Minor

cfg/active_grasp.yaml

@@ -2,7 +2,7 @@ bt_sim:
   gui: False
   cam_noise: False
   gripper_force: 10
-  scene: random
+  scene: scene2.yaml
 
 grasp_controller:
   base_frame_id: panda_link0

cfg/scenes/scene1.yaml

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

cfg/scenes/scene2.yaml

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

scripts/bt_sim_node.py

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