30 lines
585 B
YAML
30 lines
585 B
YAML
bt_sim:
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gui: False
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cam_noise: False
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gripper_force: 10
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scene: random
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grasp_controller:
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base_frame_id: panda_link0
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ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065] # offset to panda_link8
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control_rate: 30
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linear_vel: 0.05
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camera:
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frame_id: camera_depth_optical_frame
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info_topic: /camera/depth/camera_info
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depth_topic: /camera/depth/image_rect_raw
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min_z_dist: 0.3
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vgn:
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model: $(find vgn)/assets/models/vgn_conv.pth
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finger_depth: 0.05
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qual_threshold: 0.9
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policy:
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rate: 2
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window_size: 6
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nbv_grasp:
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max_views: 40
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min_gain: 0.0
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