moveit_task_constructor/demo/config/panda_config.yaml
Michael Görner a9fbcac31f
planning_attempts -> max_solutions (#143)
The parameter describes the maximum number of found solutions before further planning is aborted.
2020-03-10 15:00:22 +01:00

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YAML

# 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