Change to new VGN interface

2021-05-05 11:18:43 +02:00
parent cd9fb814e9
commit c37af70f56
3 changed files with 31 additions and 38 deletions
--- a/config/active_grasp.yaml
+++ b/config/active_grasp.yaml
@@ -1,5 +1,8 @@
 active_grasp:
  frame_id: task
+  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, 0.06]
  camera_name: cam
 vgn:
  model: $(find vgn)/data/models/vgn_conv.pth