Load scene config

2021-12-03 13:52:07 +01:00
parent e7aa81fed3
commit d8ea9683db
5 changed files with 41 additions and 15 deletions
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -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