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config.yaml
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config.yaml
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config:
vcam:
trim_y: 300
trim_x: 400
frame_id: camera
prepro:
capture_frame_id: camera/capture0
vrobo:
target_frame_id: tool0_controller
vrobo:
xyz: [0,0,0]
rpy: [0,0,0]
uf: uf0
picker:
fitness:
min: 0
azimuth:
max: 0
config_tf:
base:
parent_frame_id: world #In stead of URDF
flange:
parent_frame_id: tool0_controller
marud:
parent_frame_id: world
transform:
rotation:
w: 1
x: 0
y: 0
z: 0
translation:
x: 800
y: 700
z: 0
circle:
parent_frame_id: world
transform:
rotation:
w: 1
x: 0
y: 0
z: 0
translation:
x: 800
y: -700
z: 0
camera:
transform:
rotation:
w: 1
x: 0
y: 0
z: 0
translation:
x: 0
y: 0
z: 0
uf0:
parent_frame_id: base
uf1: #marudo
parent_frame_id: base
transform:
rotation:
w: 1
x: 0
y: 0
z: 0
translation:
x: 800
y: 700
z: 0
uf2: #cirle
parent_frame_id: base
transform:
rotation:
w: 1
x: 0
y: 0
z: 0
translation:
x: 800
y: -700
z: 0
uf9: #as VT
parent_frame_id: base