nbv_sim/cfg/active_grasp.yaml

bt_sim:
  gui: False
  cam_noise: False
  gripper_force: 10
  scene: mustard1.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

vgn:
  model: $(find vgn)/assets/models/vgn_conv.pth
  finger_depth: 0.05
  qual_threshold: 0.9

policy:
  rate: 2
  window_size: 6

nbv_grasp:
  max_views: 40
  min_gain: 0.0
Seed the rng of the simulation 2021-07-09 15:53:34 +02:00			`bt_sim:`
Minor 2021-09-13 18:29:41 +02:00			`gui: False`
Read nbv params from the rosparam server 2021-10-08 15:41:50 +02:00			`cam_noise: False`
Read gripper force from the config file 2021-10-13 11:19:47 +02:00			`gripper_force: 10`
Select local_maxima instead of grid 2021-10-11 14:31:31 +02:00			`scene: mustard1.yaml`
Seed the rng of the simulation 2021-07-09 15:53:34 +02:00
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`
Move on a half sphere 2021-09-11 20:49:55 +02:00			`control_rate: 30`
Execute grasps with MoveIt 2021-09-04 15:50:29 +02:00			`linear_vel: 0.05`
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`
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
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:`
			`rate: 2`
			`window_size: 6`

			`nbv_grasp:`
Select local_maxima instead of grid 2021-10-11 14:31:31 +02:00			`max_views: 40`
Read nbv params from the rosparam server 2021-10-08 15:41:50 +02:00			`min_gain: 0.0`