36 lines
866 B
YAML
36 lines
866 B
YAML
runner:
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general:
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seed: 0
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device: cuda
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cuda_visible_devices: "0,1,2,3,4,5,6,7"
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experiment:
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name: simulation_debug
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root_dir: "experiments"
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simulation:
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robot:
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urdf_path: "assets/franka_panda/panda.urdf"
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initial_position: [0, 0, 0] # 机械臂基座位置
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initial_orientation: [0, 0, 0] # 机械臂基座朝向(欧拉角)
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turntable:
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radius: 0.3 # 转盘半径(米)
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height: 0.1 # 转盘高度
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center_position: [0.8, 0, 0.4]
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target:
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obj_dir: /media/hofee/data/project/python/nbv_reconstruction/nbv_reconstruction/assets/object_meshes
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obj_name: "google_scan-box_0185"
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scale: 1.0 # 缩放系数
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mass: 0.1 # 质量(kg)
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rgba_color: [0.8, 0.8, 0.8, 1.0] # 目标物体颜色
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camera:
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width: 640
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height: 480
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fov: 40
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near: 0.01
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far: 5.0
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displaytable: |