nbv_sim/cfg/active_grasp.yaml

bt_sim:
  gui: True
  gripper_force: 10
  # scene: random
  scene: manual
  # scene: $(find active_grasp)/cfg/sim/challenging_scene_2.yaml

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: 100
  linear_vel: 0.05
  move_to_target_threshold: 0.01 # meter
  camera:
    frame_id: camera_depth_optical_frame
    info_topic: /camera/depth/camera_info
    depth_topic: /camera/depth/image_rect_raw
    seg_topic: /camera/segmentation/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: 2
  window_size: 12

nbv_grasp:
  max_views: 80
  min_gain: 10
  downsample: 10  # 10/20 for sim/hw respectively

ap_grasp:
  max_views: 80
  ap_config_path: $(find active_grasp)/src/active_grasp/active_perception/configs/local_inference_config.yaml
  max_inference_num: 50
Seed the rng of the simulation 2021-07-09 15:53:34 +02:00			`bt_sim:`
enable pybullet gui 2024-10-06 22:34:55 -05:00			`gui: True`
Read gripper force from the config file 2021-10-13 11:19:47 +02:00			`gripper_force: 10`
cusotm scene test passed 2024-10-19 13:57:56 -05:00			`# scene: random`
switch scene pipeline passed 2024-10-24 21:54:31 -05:00			`scene: manual`
			`# scene: $(find active_grasp)/cfg/sim/challenging_scene_2.yaml`
Seed the rng of the simulation 2021-07-09 15:53:34 +02:00
Load scene config 2021-12-03 13:52:07 +01:00			`hw:`
			`roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt`
			`scene_file: $(find active_grasp)/cfg/hw/scene01.yaml`

Switch to velocity control 2021-09-03 22:39:17 +02:00			`grasp_controller:`
Change to new VGN interface 2021-05-05 11:18:43 +02:00			`base_frame_id: panda_link0`
Minor 2021-09-13 18:29:41 +02:00			`ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065] # offset to panda_link8`
single-view initialized 2024-10-13 05:34:35 -05:00			`control_rate: 100`
Execute grasps with MoveIt 2021-09-04 15:50:29 +02:00			`linear_vel: 0.05`
switch scene pipeline passed 2024-10-24 21:54:31 -05:00			`move_to_target_threshold: 0.01 # meter`
Generate random object arrangements 2021-05-26 14:46:12 +02:00			`camera:`
Move on a half sphere 2021-09-11 20:49:55 +02:00			`frame_id: camera_depth_optical_frame`
Publish simulation state in multiple threads 2021-07-14 16:52:53 +02:00			`info_topic: /camera/depth/camera_info`
Match realsense depth topic name 2021-09-11 21:02:14 +02:00			`depth_topic: /camera/depth/image_rect_raw`
successfully applies segmentation input for policy class 2024-10-13 00:37:45 -05:00			`seg_topic: /camera/segmentation/image_rect_raw`
Move on a half sphere 2021-09-11 20:49:55 +02:00			`min_z_dist: 0.3`
Read nbv params from the rosparam server 2021-10-08 15:41:50 +02:00
Read cartesian controller topic from rosparam 2021-11-24 11:34:12 +01:00			`cartesian_velocity_controller:`
			`topic: /cartesian_velocity_controller/set_command`

Fixed trajectory baseline 2021-04-29 10:50:33 +02:00			`vgn:`
Cleanup 2021-07-06 14:00:04 +02:00			`model: $(find vgn)/assets/models/vgn_conv.pth`
Generate random object arrangements 2021-05-26 14:46:12 +02:00			`finger_depth: 0.05`
Move on a half sphere 2021-09-11 20:49:55 +02:00			`qual_threshold: 0.9`
Read nbv params from the rosparam server 2021-10-08 15:41:50 +02:00
			`policy:`
single-view initialized 2024-10-13 05:34:35 -05:00			`rate: 2`
Update policy parameters 2021-11-12 15:08:34 +01:00			`window_size: 12`
Read nbv params from the rosparam server 2021-10-08 15:41:50 +02:00
			`nbv_grasp:`
Update policy parameters 2021-11-12 15:08:34 +01:00			`max_views: 80`
Update min IG 2021-11-09 19:32:13 +01:00			`min_gain: 10`
Minor 2022-01-14 14:17:38 +01:00			`downsample: 10 # 10/20 for sim/hw respectively`
successfully added ap policy class 2024-10-12 21:23:56 -05:00
			`ap_grasp:`
			`max_views: 80`
			`ap_config_path: $(find active_grasp)/src/active_grasp/active_perception/configs/local_inference_config.yaml`
improved ap-multi-view 2024-10-13 07:03:48 -05:00			`max_inference_num: 50`