hackaton/pinecone_config.json at master · TomkeMonke/hackaton · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
{
  "image_w": 640,
  "image_h": 480,
  "cx": 320.0,
  "grasps": [
    {
      "name": "grasp_mid",
      "target_row": 360.0,
      "forward_m": 0.33
    }
  ],
  "detector": {
    "hsv": {
      "lo": [
        130,
        20,
        20
      ],
      "hi": [
        179,
        160,
        255
      ]
    },
    "min_area_px": 400,
    "max_area_px": 40000,
    "blur_ksize": 5,
    "morph_ksize": 9,
    "border_px": 3,
    "grasp_zone_rows": 40.0
  },
  "control": {
    "kx": 0.004,
    "ky": 0.0025,
    "steer_sign": 1.0,
    "v_max": 0.25,
    "v_min": -0.1,
    "w_max": 0.6,
    "deadband_px": 3.0,
    "tol_x_px": 8.0,
    "tol_y_px": 8.0,
    "settle_frames": 3,
    "lost_timeout_s": 2.0,
    "lost_hold_s": 0.25,
    "far_row_frac": 0.35,
    "far_creep_v": 0.1,
    "search_w": 0.35,
    "search_pattern": "lanes",
    "lane_length_m": 3.0,
    "lane_count": 4,
    "lane_spacing_m": 1.0,
    "search_drive_m": 0.8,
    "search_drive_v": 0.15,
    "search_timeout_s": 90.0,
    "retries": 2,
    "retry_back_s": 1.2,
    "retry_back_v": -0.08,
    "loop_hz": 15.0,
    "track_max_jump_px": 120.0
  },
  "base": {
    "driver": "xiao",
    "port": "/dev/robot-drive",
    "baud": 115200,
    "wheel_base_m": 0.5,
    "xiao_pwm_min": 80,
    "xiao_pwm_max": 260,
    "xiao_steer_min": 60,
    "xiao_steer_max": 220,
    "xiao_period_s": 0.08,
    "bip_period_s": 0.05,
    "bip_hall_every": 4
  },
  "arm": {
    "driver": "waypoints",
    "port": "/dev/robot-arm",
    "arm_id": "so101",
    "motions_dir": "motions",
    "subprocess_cmd": "python legacy/arm_recordings/replay_demo.py --port {port}",
    "empty_gripper_below": 6.0,
    "urdf_path": "so101_urdf/so101_new_calib.urdf",
    "urdf_sign": {},
    "urdf_offset_deg": {
      "shoulder_pan": -0.79,
      "shoulder_lift": 12.44,
      "elbow_flex": -81.14,
      "wrist_flex": 103.52
    }
  },
  "camera": {
    "warmup_frames": 90,
    "lock_auto": true
  },
  "sim": {
    "cam_height_m": 0.45,
    "cam_pitch_deg": 38.0,
    "cam_forward_m": -0.1,
    "fx": 600.0,
    "fy": 600.0,
    "cone_radius_m": 0.03,
    "noise_px": 1.0,
    "field_m": 2.2,
    "n_cones": 5,
    "seed": 1
  },
  "log_csv": "pinecone_log.csv"
}