# Need more intuitive explanation of simple\_grasping.yaml in UNIT6?

**URL:** <https://get-help.theconstruct.ai/t/need-more-intuitive-explanation-of-simple-grasping-yaml-in-unit6/2123>\
**Category:** ROS Manipulation In 5 Days\
**Created:** [January 30, 2020, 6:41am UTC](https://get-help.theconstruct.ai/t/need-more-intuitive-explanation-of-simple-grasping-yaml-in-unit6/2123 "2020-01-30T06:41:43Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![vasank1958](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/vasank1958/32/10_2.png) [@vasank1958](https://get-help.theconstruct.ai/u/vasank1958)\
**Post date:** [January 30, 2020, 6:41am UTC](https://get-help.theconstruct.ai/t/need-more-intuitive-explanation-of-simple-grasping-yaml-in-unit6/2123/1 "2020-01-30T06:41:43Z")

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eg “ **tool\_to\_planning\_frame** : The name of the end-effector group, as stated in the MoveIt package.”

however the value defines is a float point how does this become name of a end-effector group ?

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**Author:** ![albertoezquerro](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/albertoezquerro/32/7031_2.png) [@albertoezquerro](https://get-help.theconstruct.ai/u/albertoezquerro)\
**Post date:** [January 30, 2020, 11:34am UTC](https://get-help.theconstruct.ai/t/need-more-intuitive-explanation-of-simple-grasping-yaml-in-unit6/2123/2 "2020-01-30T11:34:25Z")

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Hello @vasank1958,

Yes you are right. I’ve fixed the parameters’ explanations right now. Btw, the **tool\_to\_planning\_frame** parameter goes for this: “The distance from the tool (gripper) to the planning frame of the arm. Usually it is the last link of the arm, in this case, **wrist\_roll\_link** ” .

Thanks for the feedback,