grasp_planner_parameters_suction.rst

Grasp Planner Suction Parameters

grasp_planning_node:
  ros__parameters:
    ...
    end_effectors:
      end_effector_names: [finger_gripper_1, suction_gripper_1]
      suction_gripper_1:
        type: suction
        num_cups_length: 1
        num_cups_breadth: 1
        dist_between_cups_length: 0.06
        dist_between_cups_breadth: 0.06
        cup_radius: 0.005
        cup_height: 0.01
        gripper_coordinate_system:
          length_direction: "x"
          breadth_direction: "y"
          grasp_approach_direction: "z"
        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

Physical Attributes

.. toctree::
   :maxdepth: 2

   grasp_planner_parameters_suction_physical

Coordinate System Attributes

.. toctree::
   :maxdepth: 2

   grasp_planner_parameters_suction_axis

Grasp Planning Attributes

.. toctree::
   :maxdepth: 3

   grasp_planner_parameters_suction_planning