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This commit is contained in:
Michel Breyer 2022-01-14 14:17:38 +01:00
parent 7f111252d0
commit 6f86ea9453
3 changed files with 3 additions and 4 deletions
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3
cfg/active_grasp.yaml
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@ -34,5 +34,4 @@ policy:
nbv_grasp: nbv_grasp:
max_views: 80 max_views: 80
min_gain: 10 min_gain: 10
downsample: 20 # 10/20 for sim/hw respectively downsample: 10 # 10/20 for sim/hw respectively

2
launch/env.launch
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@ -12,7 +12,7 @@
<!-- Simulated environment --> <!-- Simulated environment -->
<group if="$(arg sim)"> <group if="$(arg sim)">
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/franka/panda_arm_hand.urdf.xacro" /> <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" /> <node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
</group> </group>

2
src/active_grasp/simulation.py
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@ -16,7 +16,7 @@ from vgn.detection import VGN, select_local_maxima
rospack = rospkg.RosPack() rospack = rospkg.RosPack()
pkg_root = Path(rospack.get_path("active_grasp")) pkg_root = Path(rospack.get_path("active_grasp"))
urdfs_dir = pkg_root / "assets/urdfs" urdfs_dir = pkg_root / "assets"
class Simulation: class Simulation: