185 lines
3.3 KiB
YAML
185 lines
3.3 KiB
YAML
services:
|
|
nuwa:
|
|
base_url: http://localhost:8877
|
|
timeout_s: 5.0
|
|
api_key: null
|
|
marker_finder:
|
|
base_url: http://localhost:8082
|
|
timeout_s: 5.0
|
|
yolo:
|
|
base_url: http://localhost:8879
|
|
timeout_s: 10.0
|
|
g1:
|
|
base_url: http://localhost:8765
|
|
timeout_s: 5.0
|
|
write_timeout_s: 30.0
|
|
h1:
|
|
base_url: http://localhost:8767
|
|
timeout_s: 5.0
|
|
write_timeout_s: 30.0
|
|
sam21:
|
|
base_url: http://localhost:8002
|
|
timeout_s: 10.0
|
|
open3dmodel:
|
|
base_url: http://localhost:8878
|
|
timeout_s: 30.0
|
|
api_key_env: OPEN3D_API_KEY
|
|
max_stl_bytes: 20000000
|
|
front_camera:
|
|
base_url: http://192.168.123.99:8878
|
|
timeout_s: 5.0
|
|
aruco:
|
|
dictionary: DICT_4X4_50
|
|
wrist_marker:
|
|
id: 10
|
|
size_mm: 40.0
|
|
robot:
|
|
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: 100.0
|
|
y: 0.0
|
|
z: 100.0
|
|
axis_sign_cam_to_wrist:
|
|
x: 1
|
|
y: -1
|
|
z: -1
|
|
cam_to_wrist_perm:
|
|
- z
|
|
- x
|
|
- y
|
|
camera_offset_wrist_mm:
|
|
x: 0.0
|
|
y: 0.0
|
|
z: 100.0
|
|
cluster_depth_window_m: 0.2
|
|
verify_marker:
|
|
id: 1
|
|
size_mm: 40.0
|
|
max_step_m: 0.15
|
|
z_floor_m: null
|
|
home_pose:
|
|
position:
|
|
- 0.3
|
|
- -0.2
|
|
- 0.3
|
|
rpy_deg:
|
|
- 0
|
|
- 0
|
|
- 0
|
|
custom_pose:
|
|
position:
|
|
- 0.3
|
|
- -0.2
|
|
- 0.3
|
|
rpy_deg:
|
|
- 0
|
|
- 0
|
|
- 0
|
|
pose_3d:
|
|
live_max_step_m: 0.15
|
|
tag_offset:
|
|
save_dir: /home/harry/robot/logging/wrist-tag-offset
|
|
right_wrist_camera:
|
|
enabled: true
|
|
mesh_url: /static/assets/nuwa/nuwa-hp60c.stl
|
|
offset_m:
|
|
- 0.05
|
|
- 0
|
|
- 0.1
|
|
rpy_deg:
|
|
- 0
|
|
- -90
|
|
- -90
|
|
clouds:
|
|
nuwa:
|
|
use_nuwa_camera_transform: true
|
|
extra_offset_m:
|
|
- 0.0
|
|
- 0.0
|
|
- 0.0
|
|
extra_rpy_deg:
|
|
- 0
|
|
- 0
|
|
- 0
|
|
d435:
|
|
offset_m:
|
|
- -0.01
|
|
- 0.015
|
|
- -0.005
|
|
rpy_deg:
|
|
- -90
|
|
- 90
|
|
- 0
|
|
transform_pelvis_4x4:
|
|
- - 0.03273746934835532
|
|
- -0.9960477706629303
|
|
- -0.0825657111522212
|
|
- -0.00771413467718246
|
|
- - -0.7734929889294071
|
|
- 0.027067579810660346
|
|
- -0.633226612043623
|
|
- 0.37547513731967447
|
|
- - 0.6329588092267278
|
|
- 0.08459423550455474
|
|
- -0.7695498431821574
|
|
- 0.33337005199505626
|
|
- - 0.0
|
|
- 0.0
|
|
- 0.0
|
|
- 1.0
|
|
named_poses:
|
|
Base:
|
|
side: left
|
|
position:
|
|
- 0.2561414814483791
|
|
- 0.14648003458557432
|
|
- 0.10874469031742239
|
|
quaternion:
|
|
- -0.005339006082777725
|
|
- -0.047703617194205114
|
|
- -0.005110044879619669
|
|
- 0.9988341941293186
|
|
cloud_params:
|
|
step: 2
|
|
max_depth_mm: 1000
|
|
nuwa_size_mm: 3
|
|
d435_size_mm: 3
|
|
d435_scale_xy: 1
|
|
flip_nuwa:
|
|
- false
|
|
- true
|
|
- true
|
|
flip_d435:
|
|
- false
|
|
- false
|
|
- false
|
|
d435_use_handeye: false
|
|
grasp:
|
|
approach_offset_m: 0.1
|
|
pre_grasp_clearance_m: 0.05
|
|
max_object_width_m: 0.08
|
|
pointcloud_step: 1
|
|
pointcloud_max_depth_mm: 2000
|
|
use_sam21: true
|
|
visual_servo:
|
|
min_distance_m: 0.1
|
|
step_fraction: 0.5
|
|
wrist_marker_rvec:
|
|
- 0
|
|
- 0
|
|
- 0
|
|
find_model:
|
|
sample_points: 2000
|
|
min_fitness: 0.5
|
|
max_rmse_mm: 5.0
|
|
calibration:
|
|
min_samples: 5
|
|
method: DANIILIDIS
|
|
file: data/calibration.yaml
|
|
samples_file: data/samples.json
|