72 lines
2.0 KiB
YAML
72 lines
2.0 KiB
YAML
scene:
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# mode: without_gripper # with_gripper automatically adds the tool camera
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mode: with_gripper # without_gripper automatically adds the tool camera
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backend: gpu # gpu on a machine with a supported GPU
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viewer: true
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dt: 0.008333333333333333 # 120 Hz simulation clock
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seed: 42
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robot:
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position: [-0.263, 0.0, 0.815]
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euler: [0.0, 0.0, 0.0] # degrees
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joints: # radians
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joint1: 0.0
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joint2: 0.0
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joint3: 0.0
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joint4: 0.0
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joint5: 0.0
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joint6: 0.0
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joint7: 0.0
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table:
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position: [0.0, 0.0, 0.0]
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euler: [0.0, 0.0, 0.0]
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tools:
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# Exactly one name is chosen per launch. Names are OBJ/MTL stems in tools/hammer.
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# allowed: [hammer1, hammer2, hammer3, hammer4, hammer5]
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allowed: [hammer5]
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# null: new random tool, position and yaw each launch; integer: repeatable spawn.
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# Independent of scene.seed (which controls simulation/camera randomness).
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seed: null
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cameras:
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overhead:
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position: [-0.263, 0.0, 2.8]
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lookat: [-0.263, 0.0, 1.2]
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up: [1.0, 0.0, 0.0]
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resolution: [640, 480]
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fps: 30
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horizontal_fov: 1.3089969 # radians, legacy simulated profile
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min_range: 0.01
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max_range: 6.0
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depth_resolution: 0.001
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noise:
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enabled: false
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rgb_stddev: 0.005 # fraction of full RGB scale
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depth_stddev: 0.02 # metres
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tool:
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link: camera_optical_frame
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# Existing optical link is at the CAD housing origin. Place the simulated
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# aperture in front of its 26 mm deep body, avoiding self-hits.
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position: [0.0, 0.014, 0.027]
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lookat: [0.0, 0.014, 1.027]
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up: [0.0, -1.0, 0.0]
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resolution: [640, 480]
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fps: 30
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horizontal_fov: 1.3089969
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min_range: 0.01
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max_range: 6.0
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depth_resolution: 0.001
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noise:
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enabled: false
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rgb_stddev: 0.005
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depth_stddev: 0.02
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output:
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save_frames: false
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directory: ../outputs # relative to this YAML
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preview: true # RGB and colour-mapped depth windows when viewer is enabled
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pointcloud: false # optional optical-frame XYZ in each NPZ
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