From 360755144c3dabc3046d79bcb55acb9760bb6276 Mon Sep 17 00:00:00 2001 From: Adriano Dal Pastro Date: Thu, 21 May 2026 12:18:29 +0200 Subject: [PATCH] chore(config): valori iniziali per camera_offset_wrist_mm e cluster window Tuning da prima sessione live: move_offset_camera_mm.x=100 (lateral verso il pestello), camera_offset_wrist_mm.z=100 (mounting verticale della Nuwa sopra il TCP destro), cluster_depth_window_m=0.20. Co-Authored-By: Claude Opus 4.7 (1M context) --- config.yaml | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/config.yaml b/config.yaml index 5220547..a918341 100644 --- a/config.yaml +++ b/config.yaml @@ -41,13 +41,18 @@ tab_right_arm: yolo_conf_front: 0.4 yolo_conf_wrist: 0.4 move_offset_camera_mm: - x: 0 - y: 0 - z: 100 + x: 100.0 + y: 0.0 + z: 100.0 axis_sign_cam_to_wrist: x: 1 y: -1 z: -1 + camera_offset_wrist_mm: + x: 0.0 + y: 0.0 + z: 100.0 + cluster_depth_window_m: 0.20 max_step_m: 0.15 z_floor_m: null home_pose: