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