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This commit is contained in:
Michel Breyer 2021-11-08 15:51:19 +01:00
parent 90a392b15c
commit 0cdc5dd127
4 changed files with 4 additions and 4 deletions
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2
cfg/active_grasp.yaml
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@ -2,7 +2,7 @@ bt_sim:
gui: False gui: False
cam_noise: False cam_noise: False
gripper_force: 10 gripper_force: 10
scene: random scene: scene2.yaml
grasp_controller: grasp_controller:
base_frame_id: panda_link0 base_frame_id: panda_link0

2
cfg/scenes/scene1.yaml
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@ -1,7 +1,7 @@
center: [0.5, 0.2, 0.25] center: [0.5, 0.2, 0.25]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects: objects:
- object_id: ycb/006_mustard_bottle - object_id: ycb/006_mustard_bottle
xyz: [0.0, 0.0, 0.0] xyz: [0.0, 0.0, 0.0]
rpy: [0, 0, -50] rpy: [0, 0, -50]
randomize: {rot: 15, pos: [0.02, 0.02, 0]} randomize: {rot: 15, pos: [0.02, 0.02, 0]}
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]

2
cfg/scenes/scene2.yaml
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@ -6,6 +6,6 @@ objects:
rpy: [0, 0, 15] rpy: [0, 0, 15]
randomize: {rot: 5, pos: [0, 0.01, 0]} randomize: {rot: 5, pos: [0, 0.01, 0]}
- object_id: ycb/025_mug - object_id: ycb/025_mug
xyz: [0.0, 0.02, 0.0] xyz: [0.01, 0.02, 0.0]
rpy: [0, 0, 0] rpy: [0, 0, 0]
randomize: {rot: 30, pos: [0.01, 0.01, 0]} randomize: {rot: 30, pos: [0.01, 0.01, 0]}

2
scripts/bt_sim_node.py
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@ -131,7 +131,7 @@ class PhysicsPlugin(Plugin):
class JointStatePlugin(Plugin): class JointStatePlugin(Plugin):
def __init__(self, arm, gripper, rate=30): def __init__(self, arm, gripper, rate=60):
super().__init__(rate) super().__init__(rate)
self.arm = arm self.arm = arm
self.gripper = gripper self.gripper = gripper