moveit_task_constructor/demo/src/pick_place_demo_parameters.yaml

98 lines
1.8 KiB
YAML

pick_place_task_demo:
execute:
type: bool
default_value: false
table_name:
type: string
validation:
not_empty<>: []
table_reference_frame:
type: string
validation:
not_empty<>: []
table_dimensions:
type: double_array
validation:
fixed_size<>: [3]
table_pose:
type: double_array
validation:
fixed_size<>: [6]
object_name:
type: string
validation:
not_empty<>: []
object_reference_frame:
type: string
validation:
not_empty<>: []
object_dimensions:
type: double_array
validation:
fixed_size<>: [2]
object_pose:
type: double_array
validation:
fixed_size<>: [6]
spawn_table:
type: bool
default_value: true
max_solutions:
type: int
default_value: 10
arm_group_name:
type: string
validation:
not_empty<>: []
eef_name:
type: string
validation:
not_empty<>: []
hand_group_name:
type: string
validation:
not_empty<>: []
hand_frame:
type: string
validation:
not_empty<>: []
hand_open_pose:
type: string
validation:
not_empty<>: []
hand_close_pose:
type: string
validation:
not_empty<>: []
arm_home_pose:
type: string
validation:
not_empty<>: []
# Scene frames
world_frame:
type: string
validation:
not_empty<>: []
surface_link:
type: string
validation:
not_empty<>: []
grasp_frame_transform:
type: double_array
validation:
fixed_size<>: [6]
place_pose:
type: double_array
validation:
fixed_size<>: [6]
place_surface_offset:
type: double
approach_object_min_dist:
type: double
approach_object_max_dist:
type: double
lift_object_min_dist:
type: double
lift_object_max_dist:
type: double