28 lines
852 B
YAML
28 lines
852 B
YAML
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environment:
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simulation_dt: 0.01
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rendering_dt: 0.02
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prim_path: "/World/Env"
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buildin: true
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usd_path: "/Isaac/Environments/Grid/default_environment.usd" # /Isaac/Environments/Simple_Warehouse/full_warehouse.usd
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synchronous_mode: false # if true, the simulator will wait for the control commands from the LCM channel for 0.1 seconds
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robots:
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- prim_path: "/World/Env/GO2"
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usd_path: ""
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name: "go2"
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usd_file: "assets/usd/go2.usd"
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position: [0.0, 0.0, 0.8]
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orientation: [0.0, 0.0, 0.0, 1.0]
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cameras:
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- prim_path: "/World/Env/GO2/imu_link"
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name: "test_camera"
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type: ["rgb", "distance_to_camera"]
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resolution: [1280, 720]
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interstice_parameters:
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K: [1000, 1000, 500, 500]
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D: [0.1, 0.2, 0.1, 0.0]
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translation: [0.0, 0.0, 0.0] # x, y, z
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orientation: [0.0, 0.0, 0.0, 1.0] # qx, qy, qz, qw
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