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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2021-10-08 15:41:50 +02:00
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cam_noise: False
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2021-10-13 11:19:47 +02:00
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gripper_force: 10
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2021-11-09 19:32:13 +01:00
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scene: random
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2021-07-09 15:53:34 +02:00
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|
2021-12-03 13:52:07 +01:00
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hw:
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roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
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scene_file: $(find active_grasp)/cfg/hw/scene01.yaml
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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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|
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linear_vel: 0.05
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2021-05-26 14:46:12 +02:00
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|
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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
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2021-10-08 15:41:50 +02:00
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|
|
|
2021-11-24 11:34:12 +01:00
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cartesian_velocity_controller:
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topic: /cartesian_velocity_controller/set_command
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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
|
|
|
qual_threshold: 0.9
|
2021-10-08 15:41:50 +02:00
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|
|
|
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|
|
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policy:
|
2021-11-12 15:08:34 +01:00
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|
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rate: 4
|
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|
|
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window_size: 12
|
2021-10-08 15:41:50 +02:00
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|
|
|
|
|
|
|
nbv_grasp:
|
2021-11-12 15:08:34 +01:00
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max_views: 80
|
2021-11-09 19:32:13 +01:00
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|
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min_gain: 10
|
