Improve seeding behavior

2021-11-04 16:48:25 +01:00
parent 3b44940e36
commit 5d635cb540
5 changed files with 59 additions and 60 deletions
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -2,7 +2,7 @@ bt_sim:
  gui: False
  cam_noise: False
  gripper_force: 10
-  scene: random
+  scene: scene1.yaml

 grasp_controller:
  base_frame_id: panda_link0
--- a/cfg/scenes/mustard.yaml
+++ b/cfg/scenes/mustard.yaml
@@ -1,7 +1,7 @@
-center: [0.5, 0.1, 0.20]
-q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
+center: [0.5, 0.0, 0.25]
 objects:
 - object_id: 006_mustard_bottle
-  xyz: [0.0, 0.1, 0.0]
+  xyz: [0.0, 0.15, 0.0]
  rpy: [0, 0, 0]
-  randomize: True
+  randomize: {rot: 45, pos: 0.02}
+q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]