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api_config.yaml
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# Grasping params (relative paths for gripper_dir and cache_dir are resolved relative to dex-net root)
gripper_dir: data/dex_grippers
cache_dir: .dexnet
grasp_sampler: mesh_antipodal
target_num_grasps: 2000
num_grasp_rots: 16
grasp_dist_thresh: 0.0025
grasp_dist_alpha: 0.005
grasp_gen_mult: 2
num_cone_faces: 8
sampling_friction_coef: 0.4
sampling_friction_coef_inc: 0.1
max_grasp_sampling_iters: 10
max_num_surface_points: 6000
grasp_samples_per_surface_point: 2
min_contact_dist: 0.0000
check_collisions: 1
delete_previous_metrics: 0
coll_check_num_grasp_rots: 20
max_stable_poses: 100
approach_dist: 0.05
delta_approach: 0.005
# Object gen params
generate_sdf: 1
path_to_sdfgen: SDFGen
sdf_dim: 100
sdf_padding: 5
stp_min_prob: 0.01
use_default_mass: 1
default_mass: 1.0
obj_density: 4000.0
use_uniform_com: 1
rescale_objects: 1
obj_target_scale: 1.0
obj_scaling_mode: relative
# Visualization params
show_gripper: False
max_plot_gripper: 500
min_metric: 0
table_extent: 0.15
animate: True
# Metric params
quality_scale: 0.3
metric_display_rate: 1
gravity_accel: 9.81
# Object export params
export_format: obj
export_scale: 1.0
export_overwrite: True
# Metric params
metrics:
robust_ferrari_canny:
# required parameters
quality_method: ferrari_canny_L1
friction_coef: 0.5
num_cone_faces: 3
soft_fingers: 1
quality_type: robust_quasi_static
all_contacts_required: 1
check_approach: 0
use_trimesh_contacts: 1
vis: 0
# optional deterministic parameters
torque_scaling: 100.0
wrench_norm_thresh: 0.001
wrench_regularizer: 0.0000000001
# PARAMS for robust grasp metrics
# uncertainty
grasp_uncertainty:
sigma_grasp_trans_x: 0.0025
sigma_grasp_trans_y: 0.0025
sigma_grasp_trans_z: 0.0025
sigma_grasp_rot_x: 0.01
sigma_grasp_rot_y: 0.01
sigma_grasp_rot_z: 0.01
sigma_grasp_approach: 0.01
num_prealloc_samples: 0
obj_uncertainty:
sigma_obj_trans_x: 0.001
sigma_obj_trans_y: 0.001
sigma_obj_trans_z: 0.001
sigma_obj_rot_x: 0.01
sigma_obj_rot_y: 0.01
sigma_obj_rot_z: 0.01
sigma_obj_scale: 0.00
sigma_obj_com: 0.01
num_prealloc_samples: 10
params_uncertainty:
sigma_friction_coef: 0.001
sigma_torque_scaling: 0.001
num_prealloc_samples: 0
# sampling params
num_quality_samples: 10
sampling_snapshot_rate: 1
robust_l2_ferrari_canny:
# required parameters
quality_method: ferrari_canny_L2
friction_coef: 0.6
num_cone_faces: 3
soft_fingers: 1
quality_type: robust_quasi_static
all_contacts_required: 1
check_approach: 0
vis: 0
# optional deterministic parameters
torque_scaling: 100.0
wrench_norm_thresh: 0.001
wrench_regularizer: 0.0000000001
# PARAMS for robust grasp metrics
# uncertainty
grasp_uncertainty:
sigma_grasp_trans_x: 0.001
sigma_grasp_trans_y: 0.001
sigma_grasp_trans_z: 0.001
sigma_grasp_rot_x: 0.01
sigma_grasp_rot_y: 0.01
sigma_grasp_rot_z: 0.01
sigma_grasp_approach: 0.01
num_prealloc_samples: 0
obj_uncertainty:
sigma_obj_trans_x: 0.001
sigma_obj_trans_y: 0.001
sigma_obj_trans_z: 0.001
sigma_obj_rot_x: 0.01
sigma_obj_rot_y: 0.01
sigma_obj_rot_z: 0.01
sigma_obj_scale: 0.00
sigma_obj_com: 0.01
num_prealloc_samples: 100
params_uncertainty:
sigma_friction_coef: 0.001
sigma_torque_scaling: 0.001
num_prealloc_samples: 0
# sampling params
num_quality_samples: 100
sampling_snapshot_rate: 1
metric_thresh: 0.002
metric_pctile: 0.9
min_iters: 100000
robust_wrench_resistance:
# required parameters
quality_method: wrench_resistance
friction_coef: 0.5
num_cone_faces: 8
soft_fingers: 1
quality_type: robust_quasi_static
check_approach: False
all_contacts_required: 1
# optional deterministic parameters
torque_scaling: 1000.0
wrench_norm_thresh: 0.001
wrench_regularizer: 0.0000000001
# PARAMS for robust grasp metrics
# uncertainty
grasp_uncertainty:
sigma_grasp_trans_x: 0.001
sigma_grasp_trans_y: 0.001
sigma_grasp_trans_z: 0.001
sigma_grasp_rot_x: 0.001
sigma_grasp_rot_y: 0.001
sigma_grasp_rot_z: 0.001
num_prealloc_samples: 0
obj_uncertainty:
sigma_obj_trans_x: 0.0025
sigma_obj_trans_y: 0.0025
sigma_obj_trans_z: 0.0025
sigma_obj_rot_x: 0.001
sigma_obj_rot_y: 0.001
sigma_obj_rot_z: 0.001
sigma_obj_scale: 0.00
num_prealloc_samples: 10
params_uncertainty:
sigma_friction_coef: 0.1
num_prealloc_samples: 0
# sampling params
num_quality_samples: 25
sampling_snapshot_rate: 10
robust_suction_wrench_resistance:
# required parameters
quality_method: suction_wrench_resistance
friction_coef: 0.5
soft_fingers: 1
quality_type: robust_quasi_static
max_approach_table_angle: 45 # in degrees
all_contacts_required: 1
check_approach: 0
vis: 0
vis_contact: 0
# optional deterministic parameters
torque_scaling: 1000.0
wrench_norm_thresh: 0.001
wrench_regularizer: 0.0000000001
num_cone_faces: 3
num_force_components: 3
num_boundary_points: 32
max_struct_pct_incr: 0.1
max_flex_pct_incr: 0.1
max_cone_pct_incr: 0.1
material_limit: 0.005
vacuum_force: 250.0
# PARAMS for robust grasp metrics
# uncertainty
grasp_uncertainty:
sigma_grasp_trans_x: 0.001
sigma_grasp_trans_y: 0.001
sigma_grasp_trans_z: 0.001
sigma_grasp_rot_x: 0.01
sigma_grasp_rot_y: 0.01
sigma_grasp_rot_z: 0.01
sigma_backup_dist: 0.001
sigma_penetration_dist: 0.001
sigma_grasp_approach: 0.01
num_prealloc_samples: 0
obj_uncertainty:
sigma_obj_trans_x: 0.001
sigma_obj_trans_y: 0.001
sigma_obj_trans_z: 0.001
sigma_obj_rot_x: 0.01
sigma_obj_rot_y: 0.01
sigma_obj_rot_z: 0.01
sigma_obj_scale: 0.00
sigma_obj_com: 0.0025
num_prealloc_samples: 10
params_uncertainty:
sigma_friction_coef: 0.001
sigma_torque_scaling: 0.001
sigma_target_wrench: 0.01
sigma_finger_radius: 0.001
num_prealloc_samples: 0
# sampling params
num_quality_samples: 10
sampling_snapshot_rate: 1
ferrari_canny:
quality_method: ferrari_canny_L1
friction_coef: 0.5
num_cone_faces: 8
soft_fingers: 1
quality_type: quasi_static
check_approach: False
all_contacts_required: 1
# optional deterministic parameters
torque_scaling: 100.0
wrench_norm_thresh: 0.001
wrench_regularizer: 0.0000000001
force_closure:
quality_method: force_closure
friction_coef: 0.5
num_cone_faces: 8
soft_fingers: 1
quality_type: quasi_static
check_approach: False
all_contacts_required: 1
# optional deterministic parameters
torque_scaling: 0.01
wrench_norm_thresh: 0.001
wrench_regularizer: 0.0000000001
robust_force_closure:
# required parameters
quality_method: force_closure
friction_coef: 0.5
num_cone_faces: 8
soft_fingers: 1
quality_type: robust_quasi_static
check_approach: False
all_contacts_required: 1
# optional deterministic parameters
torque_scaling: 0.01
wrench_norm_thresh: 0.001
wrench_regularizer: 0.0000000001
# PARAMS for robust grasp metrics
# uncertainty
grasp_uncertainty:
sigma_grasp_trans_x: 0.005
sigma_grasp_trans_y: 0.005
sigma_grasp_trans_z: 0.005
sigma_grasp_rot_x: 0.001
sigma_grasp_rot_y: 0.001
sigma_grasp_rot_z: 0.001
num_prealloc_samples: 0
obj_uncertainty:
sigma_obj_trans_x: 0.01
sigma_obj_trans_y: 0.01
sigma_obj_trans_z: 0.01
sigma_obj_rot_x: 0.01
sigma_obj_rot_y: 0.01
sigma_obj_rot_z: 0.01
sigma_obj_scale: 0.00
num_prealloc_samples: 10
params_uncertainty:
sigma_friction_coef: 0.1
num_prealloc_samples: 0
# sampling params
num_quality_samples: 25
sampling_snapshot_rate: 10