Adriano Dal PastroandClaude Opus 4.7
6c2452fe20
Rimosso il modulo agent (LLM chat) e la relativa config OpenRouter. La tab Pose 3D ora: espone i giunti reali via G1 /diagnostics per specchiare l'URDF senza IK; acquisisce point cloud Nuwa+D435i (/api/pose_3d/clouds); mostra il modello 3D della camera sul polso; degrada gracefully a 200 (wrist=null) quando il robot è offline. Il vecchio renderer canvas-2D (app.js view3d + diagnostic3d.js) è stato consolidato nel viewport Three.js di pose_3d.js. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
168 lines
3.0 KiB
YAML
168 lines
3.0 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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cam_to_wrist_perm:
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- z
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- x
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- y
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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: 0.2
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verify_marker:
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id: 1
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size_mm: 40.0
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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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pose_3d:
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live_max_step_m: 0.15
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right_wrist_camera:
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enabled: true
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mesh_url: /static/assets/nuwa/nuwa-hp60c.stl
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offset_m:
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- 0.05
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- 0
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- 0.1
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rpy_deg:
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- 0
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- -90
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- -90
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clouds:
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nuwa:
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use_nuwa_camera_transform: true
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extra_offset_m:
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- 0.0
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- 0.0
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- 0.0
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extra_rpy_deg:
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- 0
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- 0
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- 0
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d435:
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offset_m:
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- -0.01
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- 0
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- 0
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rpy_deg:
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- -90
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- 86
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- 0
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transform_pelvis_4x4:
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- - -0.011344227963137242
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- -0.9974094742471121
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- -0.07103273311663486
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- 0.007340882385689307
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- - -0.5556320632728338
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- 0.06534842452974676
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- -0.8288561960163252
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- 0.3109738415126284
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- - 0.8313508998943191
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- 0.03006533042523672
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- -0.5549340115286931
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- 0.2869260834772309
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- - 0.0
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- 0.0
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- 0.0
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- 1.0
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named_poses:
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Base:
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side: left
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position:
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- 0.2561414814483791
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- 0.14648003458557432
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- 0.10874469031742239
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quaternion:
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- -0.005339006082777725
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- -0.047703617194205114
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- -0.005110044879619669
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- 0.9988341941293186
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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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