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iROSA-lab / ActPerMoMa

Active Perceptive Motion Generation for Mobile Manipulation
BSD 3-Clause "New" or "Revised" License
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could I know how to access the reachability map? #1

Open jxtxwsbn opened 3 months ago

jxtxwsbn commented 3 months ago

Hi,

Thanks for the repo! Could you upload the precomputed reachability maps? (smaller_full_reach_map_gripper_right_grasping_frame_torso_False_0.05.pkl)

Thanks!

sjauhri commented 2 months ago

Hi, sorry for the delayed response.

Left arm: https://hessenbox.tu-darmstadt.de/getlink/fiLmB2dHKinaEvugZrNgcuxP/smaller_full_reach_map_gripper_left_grasping_frame_torso_False_0.05.pkl Right arm: https://hessenbox.tu-darmstadt.de/getlink/fiGe1B2vaHZdYZVHuovhze68/smaller_full_reach_map_gripper_right_grasping_frame_torso_False_0.05.pkl

Download the reachability maps from the above links and place them in the reachability folder (/actpermoma/algos/reachability/<>). If you need to generate reachability maps for another robot, have a look at the repo: https://github.com/iROSA-lab/sampled_reachability_maps