2021-07-09 15:53:34 +02:00
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bt_sim:
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2021-09-13 18:29:41 +02:00
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gui: False
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cam_noise: True
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2021-09-14 11:20:58 +02:00
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scene: kitchen.yaml
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2021-07-09 15:53:34 +02:00
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2021-09-03 22:39:17 +02:00
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grasp_controller:
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2021-05-05 11:18:43 +02:00
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base_frame_id: panda_link0
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2021-09-13 18:29:41 +02:00
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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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2021-09-11 20:49:55 +02:00
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control_rate: 30
|
2021-09-04 15:50:29 +02:00
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linear_vel: 0.05
|
2021-10-08 14:30:02 +02:00
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policy_rate: 2
|
2021-05-26 14:46:12 +02:00
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camera:
|
2021-09-11 20:49:55 +02:00
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frame_id: camera_depth_optical_frame
|
2021-07-14 16:52:53 +02:00
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info_topic: /camera/depth/camera_info
|
2021-09-11 21:02:14 +02:00
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depth_topic: /camera/depth/image_rect_raw
|
2021-09-11 20:49:55 +02:00
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min_z_dist: 0.3
|
2021-08-03 18:11:30 +02:00
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|
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2021-04-29 10:50:33 +02:00
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vgn:
|
2021-07-06 14:00:04 +02:00
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model: $(find vgn)/assets/models/vgn_conv.pth
|
2021-05-26 14:46:12 +02:00
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finger_depth: 0.05
|
2021-09-11 20:49:55 +02:00
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qual_threshold: 0.9
|
