mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
98 lines
1.8 KiB
YAML
98 lines
1.8 KiB
YAML
pick_place_task_demo:
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execute:
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type: bool
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default_value: false
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table_name:
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type: string
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validation:
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not_empty<>: []
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table_reference_frame:
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type: string
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validation:
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not_empty<>: []
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table_dimensions:
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type: double_array
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validation:
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fixed_size<>: [3]
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table_pose:
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type: double_array
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validation:
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fixed_size<>: [6]
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object_name:
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type: string
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validation:
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not_empty<>: []
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object_reference_frame:
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type: string
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validation:
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not_empty<>: []
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object_dimensions:
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type: double_array
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validation:
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fixed_size<>: [2]
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object_pose:
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type: double_array
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validation:
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fixed_size<>: [6]
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spawn_table:
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type: bool
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default_value: true
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max_solutions:
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type: int
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default_value: 10
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arm_group_name:
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type: string
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validation:
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not_empty<>: []
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eef_name:
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type: string
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validation:
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not_empty<>: []
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hand_group_name:
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type: string
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validation:
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not_empty<>: []
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hand_frame:
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type: string
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validation:
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not_empty<>: []
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hand_open_pose:
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type: string
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validation:
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not_empty<>: []
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hand_close_pose:
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type: string
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validation:
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not_empty<>: []
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arm_home_pose:
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type: string
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validation:
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not_empty<>: []
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# Scene frames
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world_frame:
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type: string
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validation:
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not_empty<>: []
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surface_link:
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type: string
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validation:
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not_empty<>: []
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grasp_frame_transform:
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type: double_array
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validation:
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fixed_size<>: [6]
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place_pose:
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type: double_array
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validation:
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fixed_size<>: [6]
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place_surface_offset:
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type: double
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approach_object_min_dist:
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type: double
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approach_object_max_dist:
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type: double
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lift_object_min_dist:
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type: double
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lift_object_max_dist:
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type: double
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