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switch scene pipeline passed

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This commit is contained in:
0nhc
2024-10-24 21:54:31 -05:00
parent f3f8d6b294
commit 91d2b86340
6 changed files with 62 additions and 21 deletions
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5
cfg/active_grasp.yaml
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@@ -2,7 +2,8 @@ bt_sim:
gui: True
gripper_force: 10
# scene: random
scene: $(find active_grasp)/cfg/sim/challenging_scene_2.yaml
scene: manual
# scene: $(find active_grasp)/cfg/sim/challenging_scene_2.yaml
hw:
roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
@@ -13,7 +14,7 @@ grasp_controller:
ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065] # offset to panda_link8
control_rate: 100
linear_vel: 0.05
move_to_target_threshold: 0.05 # meter
move_to_target_threshold: 0.01 # meter
camera:
frame_id: camera_depth_optical_frame
info_topic: /camera/depth/camera_info