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add offset for gsnet-generated grasp poses

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0nhc
2024-11-04 00:53:23 -06:00
parent 9304832801
commit 4099a0574d
5 changed files with 15008 additions and 14999 deletions
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5
cfg/active_grasp.yaml
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@@ -1,9 +1,9 @@
bt_sim:
gui: True
gripper_force: 100
scene: random
# scene: random
# scene: manual
# scene: $(find active_grasp)/cfg/sim/challenging_scene_4.yaml
scene: $(find active_grasp)/cfg/sim/challenging_scene_1.yaml
hw:
roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
@@ -47,4 +47,5 @@ ap_grasp:
crop_radius_step: 0.05
crop_max_radius: 0.5
num_knn_neighbours: 5
gsnet_grasp_offset: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, -0.01], [0, 0, 0, 1]]