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scene 3 added

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This commit is contained in:
0nhc 2024-10-24 22:17:44 -05:00
parent 91d2b86340
commit 8dde7f6033
2 changed files with 13 additions and 2 deletions
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4
cfg/active_grasp.yaml
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@ -2,8 +2,8 @@ bt_sim:
gui: True
gripper_force: 10
# scene: random
scene: manual
# scene: $(find active_grasp)/cfg/sim/challenging_scene_2.yaml
# scene: manual
scene: $(find active_grasp)/cfg/sim/challenging_scene_3.yaml
hw:
roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt

11
cfg/sim/challenging_scene_3.yaml Normal file
View File

@ -0,0 +1,11 @@
center: [0.5, 0.0, 0.25]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: ycb/006_mustard_bottle
xyz: [-0.1, 0.13, 0.1]
rpy: [0, 0, 90]
scale: 0.8
- object_id: active_perception/box2
xyz: [0.05, 0.15, 0.3]
rpy: [90, 0, -10]
scale: 1.0