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interfaced with gsnet

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0nhc
2024-10-19 18:31:46 -05:00
parent 4b696a93d3
commit ca9b6733f0
7 changed files with 167 additions and 126 deletions
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2
cfg/active_grasp.yaml
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@@ -2,7 +2,7 @@ bt_sim:
gui: True
gripper_force: 10
# scene: random
scene: $(find active_grasp)/cfg/sim/challenging_scene_1.yaml
scene: $(find active_grasp)/cfg/sim/challenging_scene_2.yaml
hw:
roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt

8
cfg/sim/challenging_scene_1.yaml
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@@ -2,10 +2,10 @@ center: [0.5, 0.0, 0.25]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: ycb/006_mustard_bottle
xyz: [0.0, 0.0, 1.6]
xyz: [0.0, 0.0, 0.03]
rpy: [0, 0, 0]
scale: 0.8
- object_id: active_perception/box2
xyz: [0.0, 0.0, 1.3]
- object_id: active_perception/box
xyz: [0.0, 0.0, 0.0]
rpy: [0, 0, 0]
scale: 0.85
scale: 0.8

11
cfg/sim/challenging_scene_2.yaml Normal file
View File

@@ -0,0 +1,11 @@
center: [0.5, 0.0, 0.25]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: ycb/006_mustard_bottle
xyz: [0.0, 0.0, 0.03]
rpy: [0, 0, 0]
scale: 0.8
- object_id: active_perception/box2
xyz: [0.19, 0.0, 0.0]
rpy: [0, 0, 0]
scale: 1.2