WIP Separate geometric properties of robot

[davetcoleman]

...from grasp generation tuning parameters

The file ROBOT_grasp_data.yaml should only contain geometry information about a specific robot. All the other parameters about grasp generation should go in the moveit_grasp_config.yaml. This has always bothered me, but its never been addressed because it affects all robots using this library.

I'll continue to push on this, but wanted buy-in first from @mlautman @henningkayser

In this PR, all I have done is re-ordered the parameters into two sections: Grasping and Hand parameters. I'm proposing to then move the grasping parameters out of this file:

Proposal to move to moveit_grasp_config.yaml:

    grasp_resolution : 0.05  # meter
    angle_resolution : 90    # degrees
    grasp_max_depth : 0.035
    grasp_min_depth : 0.01
    grasp_depth_resolution : 1.0
    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)
    grasp_padding_on_approach: 0.005  # meter
    grasp_depth_resolution : 1.0

A next step, in an ideal world, is to actually move all the remaining parameters in this file into the SRDF spec, under the tag. But that's for another debate some other time...

[mlautman]

I agree that we need better separation of parameters. This seems reasonable to me

[davetcoleman]

I don't forsee working on this for a while, so if someone else wants to tackle it, be my guest :-)

[davetcoleman]

@jliukkonen could you take over this feature please?