reach_study.yaml

# Anchors
planning_group: &planning_group manipulator

# TODO: Assign the correct URDF frame associated with the base link of the kinematic chain
kinematic_base_link: &kinematic_base_link

blade_frame: &blade_frame blade
blade_mesh: &blade_mesh package://reach_roscon_2023/3_mobile_manipulator_reach_study/resources/blade.ply
blade_pcd: &blade_pcd package://reach_roscon_2023/3_mobile_manipulator_reach_study/resources/blade.pcd

# TODO: Assign appropriate optimization parameters
optimization: ~

ik_solver:
  name: MoveItIKSolver
  distance_threshold: 0.0
  collision_mesh_filename: *blade_mesh
  collision_mesh_frame: *blade_frame
  planning_group: *planning_group
  touch_links: []

# TODO: Configure an appropriate set of reach study evaluators
evaluator: ~

display:
  name: ROSDisplay
  collision_mesh_filename: *blade_mesh
  collision_mesh_frame: *blade_frame
  kinematic_base_frame: *kinematic_base_link
  marker_scale: 0.05

# TODO: Configure an appropriate target pose generator plugin
target_pose_generator: ~

logger:
  name: BoostProgressConsoleLogger