From fcd921ff329fe7c8179bcdf0fcd339ac431ec251 Mon Sep 17 00:00:00 2001 From: Adriano Dal Pastro Date: Thu, 21 May 2026 11:43:14 +0200 Subject: [PATCH] chore(config): seleziona G1 right come robot attivo MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit YAML riformattato (block style) dal side-effect di update_config — contenuto invariato a parte robot.{active,wrist_side}. Co-Authored-By: Claude Opus 4.7 (1M context) --- config.yaml | 34 ++++++++++++++++++++++++++-------- 1 file changed, 26 insertions(+), 8 deletions(-) diff --git a/config.yaml b/config.yaml index c647fb1..5220547 100644 --- a/config.yaml +++ b/config.yaml @@ -34,22 +34,40 @@ aruco: id: 10 size_mm: 40.0 robot: - wrist_side: left - active: h1 + wrist_side: right + active: g1 tab_right_arm: yolo_class: pestello yolo_conf_front: 0.4 yolo_conf_wrist: 0.4 - move_offset_camera_mm: { x: 0, y: 0, z: 100 } - axis_sign_cam_to_wrist: { x: 1, y: -1, z: -1 } + move_offset_camera_mm: + x: 0 + y: 0 + z: 100 + axis_sign_cam_to_wrist: + x: 1 + y: -1 + z: -1 max_step_m: 0.15 z_floor_m: null home_pose: - position: [0.30, -0.20, 0.30] - rpy_deg: [0, 0, 0] + position: + - 0.3 + - -0.2 + - 0.3 + rpy_deg: + - 0 + - 0 + - 0 custom_pose: - position: [0.30, -0.20, 0.30] - rpy_deg: [0, 0, 0] + position: + - 0.3 + - -0.2 + - 0.3 + rpy_deg: + - 0 + - 0 + - 0 grasp: approach_offset_m: 0.1 pre_grasp_clearance_m: 0.05