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config_autodataset.yaml
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config_autodataset.yaml
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##Motoman left arm realsense
cam_K: [616.5961303710938, 0.0, 307.6278076171875, 0.0, 616.59619140625, 239.68692016601562, 0.0, 0.0, 1.0]
# K used in blender
# cam_K: [619.2578, 0.0, 320,
# 0.0, 619.2578, 240,
# 0.0, 0.0, 1.0]
# Motoman left arm camera xyz, q(xyzw)
cam1_in_leftarm: [-0.004269333556294441,-0.007711530197411776,-0.08680825680494308,-0.006834600586444139,0.9986741542816162,0.04945759475231171,-0.01254322659224272]
handbase_in_palm: [0 , -1 , 0 ,0.009000016543892384,
-0 , 0 , 1 ,0.08699987083673477,
-1 , -0 , 0 , 0.01899999752640724,
-0 , -0 , -0 , 1
]
out_dir: /home/bowen/debug
rgb_path: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/github/icra20-hand-object-pose/example/rgb7.png
depth_path: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/github/icra20-hand-object-pose/example/depth7.png
palm_in_baselink: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/github/icra20-hand-object-pose/example/palm_in_base7.txt
leftarm_in_base: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/github/icra20-hand-object-pose/example/arm_left_link_7_t_7.txt
model_name: ellipse
object_model_path: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/ellipse.ply
object_mesh_path: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/ellipse.obj
ppf_path: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/ppf_ellipse
#For Simulation data
cam_in_world: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/simulation_data/cuboid_whitehand/000626/cam_in_world_pose.txt
handbase_in_world: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/simulation_data/cuboid_whitehand/000626/visual_0_base_link.txt
object_symmetry: # 0 means complete symmetric, 360 means not symmetric
tless3:
x: 360
y: 0
z: 360
ellipse:
x: 180
y: 180
z: 180
cylinder:
x: 180
y: 180
z: 0
cuboid:
x: 180
y: 180
z: 90
mustard:
x: 360
y: 360
z: 360
tomato:
x: 0
y: 0
z: 0
down_sample:
leaf_size: 0.005
remove_noise:
radius: 0.02
min_number: 50
# #NOTE: for simulation
# hand_match:
# finger1_min_match: 5 #Near handbase left/right fingers
# finger2_min_match: 5 #Far handbase left/right fingers
# finger1_dist_thres: 0.005
# finger2_dist_thres: 0.005
# finger1_normal_angle: 60
# finger2_normal_angle: 60
# check_normal: true
# max_outter_pts: 300
# outter_pt_dist: 0.002
# outter_pt_dist_weight: 1
# planar_dist_thres: 0.001
# pso:
# n_pop: 15
# n_gen: 3
# check_freq: 10 # Use big value to let it run until max iter
# pso_par_c_cog: 0.1
# pso_par_c_soc: 0.9
# pso_par_initial_w: 0 # Particle velocity initial scaling factor
# lcp:
# dist: 0.001
# normal_angle: 10
#NOTE: for real
hand_match:
finger1_min_match: 5 #Near handbase left/right fingers
finger2_min_match: 5 #Far handbase left/right fingers
finger1_dist_thres: 0.005
finger2_dist_thres: 0.005
finger1_normal_angle: 60
finger2_normal_angle: 60
check_normal: true
max_outter_pts: 300
outter_pt_dist: 0.002
outter_pt_dist_weight: 1
planar_dist_thres: 0.001
pso:
n_pop: 15
n_gen: 3 #Increase for better accuracy but slower
check_freq: 10 # Use big value to let it run until max iter
pso_par_c_cog: 0.1
pso_par_c_soc: 0.9
pso_par_initial_w: 0.0 # Particle velocity initial scaling factor
lcp:
dist: 0.001
normal_angle: 10
pose_estimator_wrong_ratio: 1
render_roi_weight: 2.0
render_keep_hypo: 0.3
near_hand_dist: 0.003
pose_estimator_use_physics: true
pose_estimator_high_confidence_thres: 0.8
icp_dist_thres: 0.01
icp_angle_thres: 45
collision_thres: 0.4
non_touch_dist: 0.01
collision_finger_dist: 0.012
collision_finger_volume_ratio: 0.25
super4pcs_sample_size: 100 #sample points on Q(model)
super4pcs_overlap: 0.2
super4pcs_delta: 0.003
super4pcs_dispersion: 0.5
super4pcs_success_quadrilaterals: 10 #Increase for better accuracy but slower
super4pcs_max_normal_difference: -1 #Maximum angle (degrees) between corresponded normals.
super4pcs_max_color_distance: -1
super4pcs_max_time_seconds: 1
urdf_path: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/hand_T42b.urdf
#!NOTE convex_mesh is an approximated mesh for efficient collision checking. Can use the same path as "mesh" if dont worry about speed.
Hand:
base_link:
mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/base.obj
convex_mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/base_convex.obj
cloud: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/base.ply
swivel_1:
mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/swivel_t42.obj
convex_mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/swivel_t42_convex.obj
cloud: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/swivel_t42.ply
swivel_2:
mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/swivel_t42.obj
convex_mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/swivel_t42_convex.obj
cloud: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/swivel_t42.ply
finger_1_1:
mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/proximal_t42_airtight.obj
convex_mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/proximal_t42_convex.obj
cloud: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/proximal_t42_airtight.ply
finger_1_2:
mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/distal_round_t42_airtight.obj
convex_mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/distal_round_t42_convex.obj
cloud: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/distal_round_t42_airtight.ply
finger_2_1:
mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/proximal_t42_airtight.obj
convex_mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/proximal_t42_convex.obj
cloud: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/proximal_t42_airtight.ply
finger_2_2:
mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/distal_round_t42_airtight.obj
convex_mesh: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/distal_round_t42_convex.obj
cloud: /media/bowen/e25c9489-2f57-42dd-b076-021c59369fec/catkin_ws/src/icra20_manipulation_pose/meshes/raw/distal_round_t42_airtight.ply