forked from cmower/ros_pybullet_interface
/
config.yaml
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/
config.yaml
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#
# Basic example
#
#
# Pybullet instance
#
connect:
connection_mode: 'GUI'
options: '--mp4=$HOME/basic_example_kuka_lwr.mp4'
setGravity:
gravX: 0.0
gravY: 0.0
gravZ: -9.81
timeStep: 0.01
start_pybullet_after_initialization: true
status_hz: 50
#
# Pybullet visualizer
#
configureDebugVisualizer:
enable: 0
flag: 'COV_ENABLE_GUI'
resetDebugVisualizerCamera:
cameraDistance: 2.0
cameraYaw: 0.0
cameraPitch: -45.0
cameraTargetPosition: [0.0, 0.0, 0.0]
#
# Pybullet objects
#
collision_objects:
- "{rpbi_examples}/configs/floor.yaml"
robots:
- "{rpbi_examples}/configs/basic_example_kuka_lwr/kuka_lwr.yaml"
#
# Sensors
#
rgbd_sensor:
name: 'rgbd_sensor'
hz: 30
# this will project the depth to a point cloud
# pointcloud: True
intrinsics:
width: 640
height: 480
fov: 40
range: [0.01, 10000]
object_tf:
tf_id: 'rpbi/camera'