Minor

2021-10-27 14:52:07 +02:00
parent f311ac4eed
commit 8f6f18d296
4 changed files with 15 additions and 23 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: mustard.yaml
+  scene: random

 grasp_controller:
  base_frame_id: panda_link0
--- a/cfg/scenes/mustard.yaml
+++ b/cfg/scenes/mustard.yaml
@@ -3,5 +3,5 @@ q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
 objects:
 - object_id: 006_mustard_bottle
  xyz: [0.0, 0.1, 0.0]
-  rpy: [0, 0, -50]
+  rpy: [0, 0, 0]
  randomize: True
--- a/cfg/scenes/mustard2.yaml
+++ b/cfg/scenes/mustard2.yaml
@@ -3,6 +3,6 @@ q:  [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
 objects:
 - object_id: 006_mustard_bottle
  xyz: [0.0, 0.1, 0.0]
-  rpy: [0, 0, 130]
+  rpy: [0, 0, 0]
  randomize: True