nbv_sim/cfg/active_grasp.yaml

bt_sim:
  gui: False
  cam_noise: True
  scene: test.yaml

grasp_controller:
  base_frame_id: panda_link0
  ee_frame_id: panda_hand
  ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065]  # offset to the moveit ee
  linear_vel: 0.05
  qual_threshold: 0.9
  camera:
    frame_id: camera_optical_frame
    info_topic: /camera/depth/camera_info
    depth_topic: /camera/depth/image_raw
    min_z_dist: 0.26
    
vgn:
  model: $(find vgn)/assets/models/vgn_conv.pth
  finger_depth: 0.05
Seed the rng of the simulation 2021-07-09 15:53:34 +02:00			`bt_sim:`
Remove calibration error 2021-09-08 17:32:21 +02:00			`gui: False`
Add camera calibration error 2021-08-27 10:52:27 +02:00			`cam_noise: True`
Define custom scenes via yaml files 2021-09-08 16:50:53 +02:00			`scene: test.yaml`
Seed the rng of the simulation 2021-07-09 15:53:34 +02:00
Switch to velocity control 2021-09-03 22:39:17 +02:00			`grasp_controller:`
Change to new VGN interface 2021-05-05 11:18:43 +02:00			`base_frame_id: panda_link0`
			`ee_frame_id: panda_hand`
Execute grasps with MoveIt 2021-09-04 15:50:29 +02:00			`ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065] # offset to the moveit ee`
			`linear_vel: 0.05`
Switch to velocity control 2021-09-03 22:39:17 +02:00			`qual_threshold: 0.9`
Generate random object arrangements 2021-05-26 14:46:12 +02:00			`camera:`
Publish simulation state in multiple threads 2021-07-14 16:52:53 +02:00			`frame_id: camera_optical_frame`
			`info_topic: /camera/depth/camera_info`
			`depth_topic: /camera/depth/image_raw`
Add test scenes 2021-09-10 23:29:15 +02:00			`min_z_dist: 0.26`
Define task frame based on bbox 2021-08-03 18:11:30 +02:00
Fixed trajectory baseline 2021-04-29 10:50:33 +02:00			`vgn:`
Cleanup 2021-07-06 14:00:04 +02:00			`model: $(find vgn)/assets/models/vgn_conv.pth`
Generate random object arrangements 2021-05-26 14:46:12 +02:00			`finger_depth: 0.05`