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Load scene config

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This commit is contained in:
Michel Breyer
2021-12-03 13:52:07 +01:00
parent e7aa81fed3
commit d8ea9683db
5 changed files with 41 additions and 15 deletions
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4
cfg/active_grasp.yaml
View File

@@ -4,6 +4,10 @@ bt_sim:
gripper_force: 10
scene: random
hw:
roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
scene_file: $(find active_grasp)/cfg/hw/scene01.yaml
grasp_controller:
base_frame_id: panda_link0
ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065] # offset to panda_link8

4
cfg/hw/scene01.yaml Normal file
View File

@@ -0,0 +1,4 @@
target:
min: [0.1, 0.1, 0.0]
max: [0.2, 0.2, 0.1]
q0: [0.0, -0.79, 0.0, -2.356, 0.0, 1.57, 0.79]