52 lines
1.3 KiB
YAML
52 lines
1.3 KiB
YAML
bt_sim:
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gui: True
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gripper_force: 100
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# scene: random
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# scene: manual
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scene: $(find active_grasp)/cfg/sim/scene_0.yaml
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hw:
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roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
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scene_file: $(find active_grasp)/cfg/hw/scene01.yaml
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grasp_controller:
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base_frame_id: panda_link0
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ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065] # offset to panda_link8
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control_rate: 100
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linear_vel: 0.05
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move_to_target_threshold: 0.01 # meter
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camera:
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frame_id: camera_depth_optical_frame
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info_topic: /camera/depth/camera_info
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depth_topic: /camera/depth/image_rect_raw
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seg_topic: /camera/segmentation/image_rect_raw
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min_z_dist: 0.3
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cartesian_velocity_controller:
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topic: /cartesian_velocity_controller/set_command
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vgn:
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model: $(find vgn)/assets/models/vgn_conv.pth
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finger_depth: 0.05
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qual_threshold: 0.9
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policy:
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rate: 2
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window_size: 12
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nbv_grasp:
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max_views: 80
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min_gain: 10
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downsample: 10 # 10/20 for sim/hw respectively
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ap_grasp:
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max_views: 80
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ap_config_path: $(find active_grasp)/src/active_grasp/active_perception/configs/local_inference_config.yaml
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max_inference_num: 50
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crop_min_radius: 0.2
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crop_radius_step: 0.05
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crop_max_radius: 0.5
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num_knn_neighbours: 5
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gsnet_grasp_offset: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, -0.01], [0, 0, 0, 1]]
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