Adriano Dal PastroandClaude Opus 4.7
4981306062
- scripts/: explore_and_calibrate.py (probe envelope from actual + random sampling), extend_calibration.py (loop fino a n_used >= TARGET_GOOD), repeatability.py (diagnostica bias vs noise sul marker-finder) - config.yaml: calibration.method TSAI → DANIILIDIS (sweep su 49 sample H1 sx mostra 4× meno residuo di TSAI per via del bias intrinsics-dipendente di marker-finder) - README: dual-robot G1/H1, scripts dir, caveat noti (wrist passthrough, marker-finder intrinsics floor, H1 4 DoF, /api/arms/go_neutral non proxato) Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
59 lines
1.4 KiB
YAML
59 lines
1.4 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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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: h1
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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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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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calibration:
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min_samples: 5
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method: DANIILIDIS # sweep su 49 sample H1 sx: TSAI=62.5mm, DANIILIDIS=14.2mm trans residual
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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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