Check whether the target is graspable

2021-11-09 11:53:16 +01:00
parent 39e17ca5b7
commit 8052784cc0
2 changed files with 44 additions and 9 deletions
--- a/scripts/bt_sim_node.py
+++ b/scripts/bt_sim_node.py
@@ -23,7 +23,8 @@ class BtSimNode:
    def __init__(self):
        gui = rospy.get_param("~gui")
        scene_id = rospy.get_param("~scene")
-        self.sim = Simulation(gui=gui, scene_id=scene_id)
+        vgn_path = rospy.get_param("vgn/model")
+        self.sim = Simulation(gui, scene_id, vgn_path)
        self.init_plugins()
        self.advertise_services()