249 lines
4.7 KiB
YAML
249 lines
4.7 KiB
YAML
camera:
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- clip_color: !tuple
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- 0.01
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- 1000.0
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clip_depth: !tuple
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- 0.05
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- 10.0
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enable: true
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height: 128
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horizontal_fov: 1.0471975511965976
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image_format: R8G8B8
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name: robot_camera
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noise_mean: null
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noise_stddev: null
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publish_color: true
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publish_depth: true
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publish_points: true
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random_pose_focal_point_z_offset: 0.0
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random_pose_mode: orbit
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random_pose_orbit_distance: 1.0
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random_pose_orbit_height_range: !tuple
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- 0.1
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- 0.7
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random_pose_orbit_ignore_arc_behind_robot: 0.39269908169872414
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random_pose_rollout_counter: 0.0
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random_pose_rollouts_num: 1
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random_pose_select_position_options: []
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relative_to: base_link
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spawn_position: !tuple
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- 0.0
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- 0.0
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- 1.0
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spawn_quat_xyzw: !tuple
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- 0.0
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- 0.70710678118
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- 0.0
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- 0.70710678118
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type: rgbd_camera
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update_rate: 10
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vertical_fov: 1.0471975511965976
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width: 128
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gravity: !tuple
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- 0.0
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- 0.0
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- -9.80665
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gravity_std: !tuple
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- 0.0
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- 0.0
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- 0.0232
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light:
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color: !tuple
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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direction: !tuple
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- 0.5
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- -0.25
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- -0.75
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distance: 1000.0
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model_rollouts_num: 1
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radius: 25.0
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random_minmax_elevation: !tuple
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- -0.15
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- -0.65
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type: sun
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visual: true
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objects:
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- color: null
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name: star
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orientation: !tuple
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- 1.0
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- 0.0
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- 0.0
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- 0.0
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position: !tuple
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- -0.1
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- -0.40
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- 0.1
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randomize:
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count: 0
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models_rollouts_num: 0
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random_color: false
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random_model: false
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random_orientation: false
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random_pose: false
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random_position: false
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random_spawn_position_segments: []
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random_spawn_position_update_workspace_centre: false
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random_spawn_volume: !tuple
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- 0.5
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- 0.5
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- 0.5
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relative_to: world
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static: false
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texture: []
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type: "model"
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- color: null
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name: box
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mass: 1.0
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size: !tuple
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- 0.02
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- 0.02
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- 0.05
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orientation: !tuple
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- 1.0
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- 0.0
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- 0.0
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- 0.0
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position: !tuple
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- -0.1
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- -0.37
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- 0.1
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randomize:
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count: 0
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models_rollouts_num: 0
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random_color: false
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random_model: false
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random_orientation: false
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random_pose: false
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random_position: false
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random_spawn_position_segments: []
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random_spawn_position_update_workspace_centre: false
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random_spawn_volume: !tuple
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- 0.5
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- 0.5
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- 0.5
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relative_to: world
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static: false
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type: "box"
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- color: null
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name: cylinder
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mass: 1.0
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radius: 0.01
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length: 0.05
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orientation: !tuple
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- 1.0
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- 0.0
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- 0.0
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- 0.0
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position: !tuple
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- -0.1
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- -0.34
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- 0.1
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randomize:
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count: 0
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models_rollouts_num: 0
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random_color: false
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random_model: false
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random_orientation: false
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random_pose: false
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random_position: false
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random_spawn_position_segments: []
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random_spawn_position_update_workspace_centre: false
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random_spawn_volume: !tuple
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- 0.5
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- 0.5
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- 0.5
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relative_to: world
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static: false
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type: "cylinder"
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- color: null
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name: board
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orientation: !tuple
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- 1.0
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- 0.0
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- 0.0
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- 0.0
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position: !tuple
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- 0.0
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- -0.37
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- 0.01
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randomize:
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count: 0
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models_rollouts_num: 0
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random_color: false
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random_model: false
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random_orientation: false
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random_pose: false
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random_position: false
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random_spawn_position_segments: []
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random_spawn_position_update_workspace_centre: false
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random_spawn_volume: !tuple
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- 0.5
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- 0.5
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- 0.5
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relative_to: world
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static: true
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texture: []
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type: "model"
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physics_rollouts_num: 0
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plugins:
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fts_broadcaster: false
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scene_broadcaster: false
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sensors_render_engine: ogre2
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user_commands: false
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robot:
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gripper_joint_positions: 0.0
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joint_positions:
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- -1.57
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- 0.5
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- 3.14159
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- 1.5
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- 0.0
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- 1.4
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- 0.0
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name: rbs_arm
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randomizer:
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joint_positions: false
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joint_positions_above_object_spawn: false
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joint_positions_above_object_spawn_elevation: 0.2
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joint_positions_above_object_spawn_xy_randomness: 0.2
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joint_positions_std: 0.1
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pose: false
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spawn_volume: !tuple
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- 1.0
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- 1.0
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- 0.0
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spawn_position: !tuple
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- 0.0
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- 0.0
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- 0.0
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spawn_quat_xyzw: !tuple
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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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urdf_string: ""
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with_gripper: true
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terrain:
|
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model_rollouts_num: 1
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name: ground
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size: !tuple
|
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- 1.5
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- 1.5
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spawn_position: !tuple
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- 0
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- 0
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- 0
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spawn_quat_xyzw: !tuple
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- 0
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- 0
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- 0
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- 1
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type: flat
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