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Generate random object arrangements

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This commit is contained in:
Michel Breyer
2021-05-26 14:46:12 +02:00
parent 914b808179
commit 062c541b56
6 changed files with 161 additions and 104 deletions
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8
config/active_grasp.yaml
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@@ -2,7 +2,11 @@ active_grasp:
frame_id: task
base_frame_id: panda_link0
ee_frame_id: panda_hand
ee_grasp_offset: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.06]
camera_name: cam
ee_grasp_offset: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.065]
camera:
frame_id: cam_optical_frame
info_topic: /cam/depth/camera_info
depth_topic: /cam/depth/image_raw
vgn:
model: $(find vgn)/data/models/vgn_conv.pth
finger_depth: 0.05