OpenReal2Sim/config/config.yaml at 2d649fd1ecefecd6443d5f8efd292f65ce700c59 · PointsCoder/OpenReal2Sim · GitHub

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keys:
#
  - demo_video
  # - demo_genvideo

# global settings, can be overridden by local settings
global:
  preprocess: # stage
    fps: 25
    quality: 1
    resize: 1
    gpu: "0"
    depth_refinement: true

  reconstruction:
    gpu: "0"

  simulation:
    physics: "default"

# local settings for each key
local:
  # key name
  demo_video:
    preprocess: # stage
      resize: 0.5

  demo_genvideo:
    preprocess: # stage
      resize: 1.0
      # override with GT camera info
      fx: 611.23
      fy: 610.758
      cx: 429.539
      cy: 241.204
      depth_scale: 0.0010000000474974513
      depth_max: 1.6 # this is to clip the real depth for removing outliers

    reconstruction:
      fast_scene_construction: False
      fdpose_est_refine_iter: 5
      fdpose_track_refine_iter: 4

    simulation:
      extrinsics: # GT camera to robot base transformation by hand-eye calibration
        - [ -0.0026171,  -0.9995901,   0.02850952,  0.44341227]
        - [ -0.9998069,   0.0031708,   0.01939349,  0.03251874]
        - [ -0.01947593, -0.02845325, -0.99940537,  0.5708384]
        - [ 0.,          0.,          0.,          1.,       ]

      goal_offset: 0.15
      # grasp_idx: 3
      traj_key: "fdpose_trajs" # "fdpose_trajs"