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This commit is contained in:
Michel Breyer
2021-09-03 22:39:17 +02:00
parent 81588a1075
commit b4f68e78cc
7 changed files with 83 additions and 96 deletions
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5
cfg/active_grasp.yaml
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@@ -3,14 +3,17 @@ bt_sim:
cam_noise: True
calib_error: True
active_grasp:
grasp_controller:
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]
linear_vel: 0.1
qual_threshold: 0.9
camera:
frame_id: camera_optical_frame
info_topic: /camera/depth/camera_info
depth_topic: /camera/depth/image_raw
min_z_dist: 0.22
vgn:
model: $(find vgn)/assets/models/vgn_conv.pth