Define task frame based on bbox

2021-08-03 18:11:30 +02:00
parent 8a0dd9fd45
commit 5d17498084
10 changed files with 244 additions and 251 deletions
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -0,0 +1,15 @@
+bt_sim:
+  gui: True
+
+active_grasp:
+  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, 0.065]
+  camera:
+    frame_id: camera_optical_frame
+    info_topic: /camera/depth/camera_info
+    depth_topic: /camera/depth/image_raw
+    
+vgn:
+  model: $(find vgn)/assets/models/vgn_conv.pth
+  finger_depth: 0.05