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config.yaml
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config.yaml
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# URL
url:
database: "http://127.0.0.1:8080/api/"
learning: "http://127.0.0.1:3000/api/"
# Bin
bin_data:
top_left: [-0.134, -0.085] # [m]
bottom_right: [0.147, 0.09] # [m]
height: 159
# Ensenso
ensenso:
id: "182472"
pixel_size: 2000.0 # [px/m]
min_depth: 0.22 # [m]
max_depth: 0.41 # [m]
use_open_gl: true
use_cuda: true
cuda_device: 1
# Start
start_bin: "LEFT" # LEFT, RIGHT
camera: "ENSENSO" # ENSENSO, REALSENSE, BOTH
mode: "MEASURE" # MEASURE, PERFORM, EVALUATE
grasp_database: "~/Documents/data/cylinder-cube-1/cylinder-cube-1.db"
grasp_model: "/home/berscheid/Documents/data/cylinder-cube-1/models/model-4" # Suffix for C++: "-sm", model-4, model-4-inpaint, model-5-height
# grasp_model: "/home/berscheid/Documents/data/small-cubes-2/models/model-2-types" # Suffix for C++: "-sm", model-4, model-4-inpaint, model-5-height
# grasp_model: "/home/berscheid/Documents/data/screw-2/models/model-1-screw" # Suffix for C++: "-sm", model-4, model-4-inpaint, model-5-height
# grasp_model: "/home/berscheid/Documents/data/cube-1/models/ann-model-2" # For specific grasps
# grasp_model: "/home/berscheid/Documents/data/cylinder-1/models/model-specific-3"
push_database: "~/Documents/data/pushing/cylinder-cube-1.db"
push_model: "/home/berscheid/Documents/data/pushing/models/model-1" # Suffix for C++: "-sm"
# Epochs
epochs:
- number_cycles: 3000
method_primary: "TOP_5"
percentage_secondary: 0.0
method_secondary: "RANDOM"
# General structure
use_ensenso_node: true
use_cpp_inference: true
change_bins: true
change_bin_at_max_probability: 0.0 # 5
wait_for_force: false # Doesn't work currently
push_objects: true
random_actions_without_inference: true
set_zero_reward: false
home_gripper: true
# Images
take_after_image: true
take_direct_images: false
take_side_images: false
# Distances
image_distance_from_pose: 0.350 # [m]
approach_distance_from_pose: 0.120 # [m]
lower_random_pose: [-0.07, -0.12, 0.0, -1.4, 0.0, 0.0] # [m, rad]
upper_random_pose: [0.07, 0.12, 0.0, 1.4, 0.0, 0.0] # [m, rad]
# Dynamics and forces
general_dynamics_rel: 0.32
approach_dynamics_rel: 0.15
general_force_condition_threshold: 75.0 # [a.u.] N?
gripper_speed: 0.06 # [m/s]
# Continuous training
train_model: false
train_model_every_number_cycles: 200
# Continuous inference
continuous_inference: false
show_live_actions: false
show_live_heatmap: false
# Grasping
grasp_type: "DEFAULT" # DEFAULT, SPECIFIC, TYPE
check_grasp_second_time: false
adjust_grasp_second_time: false
change_bin_at_number_of_failed_grasps: 10 # 10-15 Normal
release_in_other_bin: true
release_as_fast_as_possible: false
random_pose_before_release: true
max_random_affine_before_release: [0.055, 0.10, 0.0, 1.2, 0.0, 0.0] # [m, rad]
move_down_distance_for_release: 0.080 # [m]
measurement_gripper_force: 20.0 # [N], 15
performance_gripper_force: 40.0 # [N]
# gripper_classes: [0.025, 0.04, 0.086] # [m]
gripper_classes: [0.05, 0.07, 0.086] # [m]
# Evaluation
evaluation_result: "/home/berscheid/Documents/data/cylinder-cube-1/evaluation/15-out-of-20.txt"
change_bin_at_number_of_success_grasps: 15
number_objects_in_bin: 20
# Pushing
grasp_push_threshold: 0.4
push_empty_threshold: 0.0 # 0.28
push_distance: 0.03 # [m] 0.03
secondary_model: "/home/berscheid/Documents/data/pushing/models/model-1" # Suffix for C++: "-sm"