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Move on a half sphere

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This commit is contained in:
Michel Breyer
2021-09-11 20:49:55 +02:00
parent 4ebd587553
commit 65bdb5422d
7 changed files with 101 additions and 126 deletions
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13
cfg/active_grasp.yaml
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@@ -1,20 +1,21 @@
bt_sim:
gui: False
gui: True
cam_noise: True
scene: test.yaml
scene: test1.yaml
grasp_controller:
base_frame_id: panda_link0
ee_frame_id: panda_hand
ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065] # offset to the moveit ee
control_rate: 30
linear_vel: 0.05
qual_threshold: 0.9
policy_rate: 5
camera:
frame_id: camera_optical_frame
frame_id: camera_depth_optical_frame
info_topic: /camera/depth/camera_info
depth_topic: /camera/depth/image_raw
min_z_dist: 0.26
min_z_dist: 0.3
vgn:
model: $(find vgn)/assets/models/vgn_conv.pth
finger_depth: 0.05
qual_threshold: 0.9