37 lines
790 B
YAML
37 lines
790 B
YAML
bt_sim:
|
|
gui: False
|
|
cam_noise: False
|
|
gripper_force: 10
|
|
scene: random
|
|
|
|
hw:
|
|
roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
|
|
scene_file: $(find active_grasp)/cfg/hw/scene01.yaml
|
|
|
|
grasp_controller:
|
|
base_frame_id: panda_link0
|
|
ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065] # offset to panda_link8
|
|
control_rate: 30
|
|
linear_vel: 0.05
|
|
camera:
|
|
frame_id: camera_depth_optical_frame
|
|
info_topic: /camera/depth/camera_info
|
|
depth_topic: /camera/depth/image_rect_raw
|
|
min_z_dist: 0.3
|
|
|
|
cartesian_velocity_controller:
|
|
topic: /cartesian_velocity_controller/set_command
|
|
|
|
vgn:
|
|
model: $(find vgn)/assets/models/vgn_conv.pth
|
|
finger_depth: 0.05
|
|
qual_threshold: 0.9
|
|
|
|
policy:
|
|
rate: 4
|
|
window_size: 12
|
|
|
|
nbv_grasp:
|
|
max_views: 80
|
|
min_gain: 10
|