simulator:
name: "franka_simulator" # name of the node for ark graph
backend_type: "pybullet" # type of the backend
node_frequency: 240 # node frequency in Hz (default 240)
config: # simulator-specific
connection_mode: "DIRECT"
gravity: # default [0, 0, -9.81]
- 0
- 0
- -9.81
sim_frequency: 240 # Time step for the simulation (default 240)
save_render:
save_path: "render" # path to save the rendered images
remove_existing: True # remove existing images in the render path
render_interval: 0.333 # render every n-th step (default 1)
overwrite_file: True
extrinsics:
look_at: [0.5, 0.0, 0.5] # point to look at
distance: 1.5 # distance from the point to look at
azimuth: 180 # azimuth angle
elevation: 0.0 # elevation angle
intrinsics:
fov: 60.0 # field of view in degrees
width: 640 # width of the rendered image
height: 480 # height of the rendered image
field_of_view: 60.0 # field of view in degrees
near_plane: 0.01 # near plane distance
far_plane: 100.0 # far plane distance
robots:
- "robots/franka.yaml"
