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Add notebook to compute mean metrics

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This commit is contained in:
Michel Breyer
2021-07-12 14:08:12 +02:00
parent 66cbf39516
commit 133fc18d4d
3 changed files with 26 additions and 1 deletions
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2
launch/active_grasp.launch
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@@ -2,7 +2,7 @@
<launch>
<arg name="launch_rviz" default="true" />
<rosparam command="load" file="$(find active_grasp)/config/active_grasp.yaml" subst_value="true" />
<rosparam command="load" file="$(find active_grasp)launch/active_grasp.yaml" subst_value="true" />
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/panda_arm_hand.urdf.xacro" />
<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />

17
launch/active_grasp.yaml Normal file
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@@ -0,0 +1,17 @@
bt_sim:
gui: True
seed: 12
active_grasp:
frame_id: task
length: 0.3
base_frame_id: panda_link0
ee_frame_id: panda_hand
ee_grasp_offset: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.065]
camera:
frame_id: cam_optical_frame
info_topic: /cam/depth/camera_info
depth_topic: /cam/depth/image_raw
vgn:
model: $(find vgn)/assets/models/vgn_conv.pth
finger_depth: 0.05