Minor

cfg/hw/T_base_tag.txt

@@ -0,0 +1,4 @@
+9.998979853190785860e-01 1.338047579286792167e-02 4.998181909874715480e-03 3.216251487106734364e-01
+-1.341414276126873424e-02 9.998871470166096342e-01 6.764170678302552919e-03 -1.756941528330971392e-01
+-4.907110028114804005e-03 -6.830526959274958038e-03 9.999646314608484632e-01 -3.868988796629513338e-02
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00

launch/apriltag.launch

@@ -11,7 +11,7 @@
 
   <!-- AprilTag -->
   <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros" clear_params="true" output="screen">
-    <rosparam command="load" file="$(find active_grasp)/cfg/apriltag.yaml" />
+    <rosparam command="load" file="$(find active_grasp)/cfg/hw/apriltag.yaml" />
     <remap from="image_rect" to="/camera/infra1/image_rect_raw" />
     <remap from="camera_info" to="/camera/infra1/camera_info" />
     <param name="camera_frame" type="str" value="camera_depth_optical_frame" />

scripts/calibrate_roi.py

@@ -8,7 +8,7 @@ def main():
     rospy.init_node("calibrate_roi")
     tf.init()
     T_base_roi = tf.lookup("panda_link0", "tag_0")
-    np.savetxt("cfg/T_base_tag.txt", T_base_roi.as_matrix())
+    np.savetxt("cfg/hw/T_base_tag.txt", T_base_roi.as_matrix())
 
 
 if __name__ == "__main__":

src/active_grasp/simulation.py

@@ -158,7 +158,7 @@ class Scene:
 class YamlScene(Scene):
     def __init__(self, config_name):
         super().__init__()
-        self.config_path = pkg_root / "cfg" / config_name
+        self.config_path = pkg_root / "cfg/sim" / config_name
 
     def load_config(self):
         self.scene = load_cfg(self.config_path)