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WIP Separate geometric properties of robot #54

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WIP Separate geometric properties of robot #54

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34 changes: 22 additions & 12 deletions config_robot/panda_grasp_data.yaml
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Original file line number Diff line number Diff line change
@@ -1,33 +1,42 @@
base_link: 'world'
# =====================================================
# Note: these parameters are copied from Robotiq gripper without tweaking
hand:
end_effector_name: 'hand' # ee group name
end_effector_type: 'finger' # 'finger' or 'suction'

# =====================================================
# Grasping parameters
# TODO: move to other file

# x/y translation and angle orientation grasp resolution parameters used for sampling grasp candidates
grasp_resolution : 0.05 # meter
angle_resolution : 90 # degrees

# min/max values of the grasp depth range in meter.
# This should fit to the distance from finger tip to inner palm or the suction cup stroke
grasp_max_depth : 0.035
grasp_min_depth : 0.01
# grasp_depth_resolution is the discretization distance in meter used for sampling the grasp depth value.
# Idealy this should be a small fraction of the depth range (i.e. 0.005).
# If the value exceeds the depth distance range grasp_max_depth is used by default.
grasp_depth_resolution : 1.0

# A grasp motion is composed of three linear paths: approach, retreat, lift
# The values below define the desired distances of each path.
# Length of approach path (this is in addition to the grasp_max_depth)
approach_distance_desired: 0.05 # approach path (in addition to grasp_max_depth)
retreat_distance_desired: 0.05 # retreat path (in addition to grasp_max_depth)
lift_distance_desired: 0.01 # lift path (used as MINIMUM safety distance from surface)
lift_distance_desired: 0.1 # lift path (used as MINIMUM safety distance from surface)

# minimum padding on each side of the object on approach
grasp_padding_on_approach: 0.005 # meter

# grasp_depth_resolution is the discretization distance in meter used for sampling the grasp depth value.
# Idealy this should be a small fraction of the depth range (i.e. 0.005).
# If the value exceeds the depth distance range grasp_max_depth is used by default.
grasp_depth_resolution : 1.0

# =====================================================
# Hand parameters

# min/max values of the grasp depth range in meter.
# Peferrably, the grasp_max_depth is always used, but sometimes no grasp is available at that depth
# so it can fall back to a 'less deep' grasp if necessary
# This should fit to the distance from finger tip to inner palm or the suction cup stroke
grasp_max_depth : 0.035
grasp_min_depth : 0.01

# Distance from the eef mount to the palm of end effector [x, y, z, r, p, y]
# z-axis pointing toward object to grasp
# x-axis perp. to movement of grippers
Expand All @@ -41,7 +50,8 @@ hand:
pregrasp_posture : [0.04] # open position
grasp_posture : [0.0] # close position

# Target durations in seconds for reaching pregrasp and grasp positions in end effector motions
# Target durations, in seconds, for reaching pregrasp and grasp positions in end effector motions
# This is an estimate of how fast your end effector operates
pregrasp_time_from_start : 0.0
grasp_time_from_start : 0.0

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