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Read nbv params from the rosparam server

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This commit is contained in:
Michel Breyer
2021-10-08 15:41:50 +02:00
parent 5e1876432b
commit fcc5045671
4 changed files with 17 additions and 7 deletions
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13
cfg/active_grasp.yaml
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@@ -1,6 +1,6 @@
bt_sim:
gui: False
cam_noise: True
cam_noise: False
scene: kitchen.yaml
grasp_controller:
@@ -8,14 +8,21 @@ grasp_controller:
ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065] # offset to panda_link8
control_rate: 30
linear_vel: 0.05
policy_rate: 2
camera:
frame_id: camera_depth_optical_frame
info_topic: /camera/depth/camera_info
depth_topic: /camera/depth/image_rect_raw
min_z_dist: 0.3
vgn:
model: $(find vgn)/assets/models/vgn_conv.pth
finger_depth: 0.05
qual_threshold: 0.9
policy:
rate: 2
window_size: 6
nbv_grasp:
max_views: 30
min_gain: 0.0