Minor cleanup

2022-02-04 16:27:13 +01:00
parent 5605e00a58
commit d77173d200
4 changed files with 5 additions and 7 deletions
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -1,8 +1,7 @@
 bt_sim:
  gui: False
-  cam_noise: False
  gripper_force: 10
-  scene: random
+  scene: mustard.yaml

 hw:
  roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
--- a/cfg/sim/mustard.yaml
+++ b/cfg/sim/mustard.yaml
@@ -4,4 +4,4 @@ objects:
 - object_id: ycb/006_mustard_bottle
  xyz: [0.0, 0.0, 0.0]
  rpy: [0, 0, -50]
-  randomize: {rot: 45, pos: [0.02, 0.02, 0]}
+  scale: 0.8