Adriano Dal PastroandClaude Opus 4.7
360755144c
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) <noreply@anthropic.com>
112 lines
2.2 KiB
YAML
112 lines
2.2 KiB
YAML
services:
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nuwa:
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base_url: http://localhost:8877
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timeout_s: 5.0
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api_key: null
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marker_finder:
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base_url: http://localhost:8082
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timeout_s: 5.0
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yolo:
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base_url: http://localhost:8879
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timeout_s: 10.0
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g1:
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base_url: http://localhost:8765
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timeout_s: 5.0
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write_timeout_s: 30.0
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h1:
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base_url: http://localhost:8767
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timeout_s: 5.0
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write_timeout_s: 30.0
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sam21:
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base_url: http://localhost:8002
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timeout_s: 10.0
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open3dmodel:
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base_url: http://localhost:8878
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timeout_s: 30.0
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api_key_env: OPEN3D_API_KEY
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max_stl_bytes: 20000000
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front_camera:
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base_url: http://192.168.123.99:8878
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timeout_s: 5.0
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aruco:
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dictionary: DICT_4X4_50
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wrist_marker:
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id: 10
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size_mm: 40.0
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robot:
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wrist_side: right
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active: g1
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tab_right_arm:
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yolo_class: pestello
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yolo_conf_front: 0.4
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yolo_conf_wrist: 0.4
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move_offset_camera_mm:
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x: 100.0
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y: 0.0
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z: 100.0
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axis_sign_cam_to_wrist:
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x: 1
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y: -1
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z: -1
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camera_offset_wrist_mm:
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x: 0.0
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y: 0.0
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z: 100.0
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cluster_depth_window_m: 0.20
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max_step_m: 0.15
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z_floor_m: null
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home_pose:
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position:
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- 0.3
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- -0.2
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- 0.3
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rpy_deg:
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- 0
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- 0
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- 0
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custom_pose:
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position:
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- 0.3
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- -0.2
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- 0.3
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rpy_deg:
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- 0
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- 0
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- 0
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grasp:
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approach_offset_m: 0.1
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pre_grasp_clearance_m: 0.05
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max_object_width_m: 0.08
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pointcloud_step: 1
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pointcloud_max_depth_mm: 2000
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use_sam21: true
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visual_servo:
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min_distance_m: 0.1
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step_fraction: 0.5
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wrist_marker_rvec:
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- 0
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- 0
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- 0
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find_model:
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sample_points: 2000
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min_fitness: 0.5
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max_rmse_mm: 5.0
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calibration:
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min_samples: 5
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method: DANIILIDIS
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file: data/calibration.yaml
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samples_file: data/samples.json
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chat:
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openrouter:
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base_url: https://openrouter.ai/api/v1
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model: anthropic/claude-sonnet-4.5
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timeout_s: 60.0
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max_tool_iterations: 8
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temperature: 0.1
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api_key_env: OPENROUTER_API_KEY
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referer: http://localhost:8890
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title: presa-mano
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user_prompt_addendum: Misure sempre in mm interi. Sii conciso ma riporta i risultati
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di OGNI tool che hai chiamato (anche solo in una riga compatta), non saltare
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informazioni rilevanti.
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