# Total planning attempts max_solutions: 10 # Planning group and link names arm_group_name: "panda_arm" eef_name: "hand" hand_group_name: "hand" hand_frame: "panda_link8" # Poses hand_open_pose: "open" hand_close_pose: "close" arm_home_pose: "ready" # Scene frames world_frame: "world" table_reference_frame: "world" object_reference_frame: "world" surface_link: "table" # Collision object for picking # CYLINDER object specifications object_name: "object" object_dimensions: [0.25, 0.02] # [height, radius] object_pose: [0.5, -0.25, 0.0, 0, 0, 0] # Table model spawn_table: true table_name: "table" table_dimensions: [0.4, 0.5, 0.1] # [length, width, height] table_pose: [0.5, -0.25, 0, 0, 0, 0] # Gripper grasp frame transform [x,y,z,r,p,y] grasp_frame_transform: [0, 0, 0.1, 1.571, 0.785, 1.571] # Place pose [x,y,z,r,p,y] place_pose: [0.6, -0.15, 0, 0, 0, 0] place_surface_offset: 0.0001 # place offset from table # Valid distance range when approaching an object for picking approach_object_min_dist: 0.1 approach_object_max_dist: 0.15 # Valid height range when lifting an object after pick lift_object_min_dist: 0.01 lift_object_max_dist: 0.1