Первоначальная настройка

configs/scene.yaml

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+scene:
+  mode: without_gripper # with_gripper automatically adds the tool camera
+  backend: cpu # gpu on a machine with a supported GPU
+  viewer: true
+  dt: 0.008333333333333333 # 120 Hz simulation clock
+  seed: 42
+
+robot:
+  position: [-0.263, 0.0, 0.815]
+  euler: [0.0, 0.0, 0.0] # degrees
+  joints: # radians
+    joint1: 0.0
+    joint2: 0.0
+    joint3: 0.0
+    joint4: 0.0
+    joint5: 0.0
+    joint6: 0.0
+    joint7: 0.0
+
+table:
+  position: [0.0, 0.0, 0.0]
+  euler: [0.0, 0.0, 0.0]
+
+cameras:
+  overhead:
+    position: [-0.263, 0.0, 2.8]
+    lookat: [-0.263, 0.0, 1.2]
+    up: [0.0, 1.0, 0.0]
+    resolution: [640, 480]
+    fps: 30
+    horizontal_fov: 1.3089969 # radians, legacy simulated profile
+    min_range: 0.01
+    max_range: 6.0
+    depth_resolution: 0.001
+    noise:
+      enabled: false
+      rgb_stddev: 0.005 # fraction of full RGB scale
+      depth_stddev: 0.02 # metres
+  tool:
+    link: camera_optical_frame
+    # Local camera axes in the existing link: forward +Z, image up -Y.
+    position: [0.0, 0.0, 0.0]
+    lookat: [0.0, 0.0, 1.0]
+    up: [0.0, -1.0, 0.0]
+    resolution: [640, 480]
+    fps: 30
+    horizontal_fov: 1.3089969
+    min_range: 0.01
+    max_range: 6.0
+    depth_resolution: 0.001
+    noise:
+      enabled: false
+      rgb_stddev: 0.005
+      depth_stddev: 0.02
+
+output:
+  save_frames: false
+  directory: ../outputs # relative to this YAML
+  preview: true # RGB and colour-mapped depth windows when viewer is enabled
+  pointcloud: false # optional optical-frame XYZ in each NPZ