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rbs_gym multi camera and multi object setup

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This commit is contained in:
Ilya Uraev 2024-09-12 14:44:58 +03:00
parent b4b452297d
commit 1a562b05ca
34 changed files with 1082 additions and 816 deletions
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10
rbs_bringup/launch/rbs_robot.launch.py
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@ -158,12 +158,9 @@ def launch_setup(context, *args, **kwargs):
])
]),
launch_arguments={
'with_gripper': with_gripper_condition,
'robot_description': robot_description_content,
'start_joint_controller': start_joint_controller,
'initial_joint_controller': initial_joint_controller,
'controllers_file': controllers_file,
'cartesian_controllers': cartesian_controllers,
'control_space': "task",
'control_strategy': "effort",
'is_gripper': "false",
'namespace': namespace,
}.items(),
condition=IfCondition(launch_controllers))
@ -234,6 +231,7 @@ def launch_setup(context, *args, **kwargs):
asm_config = Node(
package="rbs_utils",
namespace=namespace,
executable="assembly_config_service.py"
)