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0nhc
2024-10-13 05:34:35 -05:00
parent 9b8dcac202
commit 2a5192e9db
7 changed files with 187 additions and 64 deletions
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5
cfg/active_grasp.yaml
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@@ -10,8 +10,9 @@ hw:
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
control_rate: 100
linear_vel: 0.05
move_arm_time: 6
camera:
frame_id: camera_depth_optical_frame
info_topic: /camera/depth/camera_info
@@ -28,7 +29,7 @@ vgn:
qual_threshold: 0.9
policy:
rate: 4
rate: 2
window_size: 12
nbv_grasp: