coppeliasim_image.yaml

capturing:
  type: images
  source: data/cam_params.json
  save_results: false
  save_images: false
  use_images: true
  use_video: false
  coppelia_path: "/plane_model.ttt"
  path_input_images: "coppelia_images"
  path_input_video: "./controltest.mp4"
  marker_length: 0.05
  use_boards: true
  square_len: 0.064
  gamma: 2
  grid_start: 10
  grid_end: 13
  gripper: 45
  base_car: 0
  moving_car: 10
  frames:
    step: 1
    start: 1300
    end: 1300
  coppelia:
    yoke_board_y: +1.2500e-01
    yoke_board_roll: -180
    yoke_board_pitch: -1.1850e-11
    yoke_board_yaw: -9.0000e+01

    yoke_joint_0_x: +3.5000e-01
    yoke_joint_0_y: -1.5000e-01

    yoke_joint_0_pitch: -9.0000e+01
    yoke_joint_0_yaw: +1.1857e-11

    yoke_joint_1_x: +5.0000e-02
    yoke_joint_1_y: +1.3434e-14
    yoke_joint_1_z: +2.7500e-01

    yoke_joint_1_pitch: +9.0000e+01
    yoke_joint_1_yaw: +9.0000e+01

    floor_level: 0.001
    floor_height: 0.7
    base_pitch: -90
    base_yaw: 0
    yoke_yaw: 60
    cam_height: 50
    gripper_board_x: -0.07
    gripper_board_y: 0.0
    gripper_board_z: 0.07
    gripper_board_pitch: 0
    gripper_board_roll: 90
    gripper_board_yaw: 0
setup:
  use_coppelia_sim: true
  show_image: true
  draw_settings:
    markers: true
    marker_axes: false
    id_pose_data: true
    distance: true
    leds: true
    lines: true
    points: false