Grasp Planner Suction Parameters (Planning)

These parameters directly affect the grasp planning aspects of the suction gripper

grasp_planning_params:
  num_sample_along_axis: 3
  search_resolution: 0.01
  search_angle_resolution: 4
  weights:
    curvature: 1.0
    grasp_distance_to_center: 1.0
    number_contact_points: 1.0

Grasp sample Generation

These parameter affects the amount of grasp samples generated for each instance of grasp planning

<suction_gripper_name>.grasp_planning_params.num_sample_along_axis

num_sample_along_axis: 3

Description	Total number of samples generated along the axis of the object
Type	Int

Note

The greater the number, the more samples along the axis will be generated and tested, but the grasp planning times will increase

<suction_gripper_name>.grasp_planning_params.search_resolution

search_resolution: 0.01

Description	Provides the distance between each generated sample along the axis of the object
Type	Double

<suction_gripper_name>.grasp_planning_params.search_angle_resolution

search_angle_resolution: 4

Description	Provides the number of rotated grasp samples within an entire rotation about a particular grasp sample
Type	Int

Note

The greater the number, the more rotated samples generated, but the grasp planning times will increase.

Grasp Planning Weights

Parameters here directly contribute to the ranking of each suction grasp sample. Configure each of the weight based on the user’s particular use case and which attribute is more valued.

Note

Ensure that each weight is a positive value less than or equal to 1.

For default values, users can leave all weights at 1.0

To find out more about how the grasp is being ranked, go to Grasp Planner Methodology (Suction)

<suction_gripper_name>.grasp_planning_params.weights.curvature

curvature: 1.0

Description	Weights for the curvature component of the grasp ranking
Type	Double

<suction_gripper_name>.grasp_planning_params.weights.grasp_distance_to_center

grasp_distance_to_center: 1.0

Description	Weights for the distance to object center component of the grasp ranking
Type	Double

<suction_gripper_name>.grasp_planning_params.weights.number_contact_points

number_contact_points: 1.0

Description	Weights for the number of contact point component of the grasp ranking
Type	Double