A text based grasp objective #170
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Signed-off-by: Paul Gesel <[email protected]>
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Can we move this to our moveit_pro repo instead? So all robot configs have access? |
MikeWrock
reviewed
Feb 27, 2025
| velocity_scale_factor="1.0" | ||
| waypoint_name="Above Pick Cube" | ||
| /> | ||
| <SubTree |
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Suggested change
| <SubTree | |
| <Action | |
| ID="GetTextFromUser" | |
| text_output="{prompts}" | |
| default_values="an object" | |
| prompts="Please specify an object to look for" | |
| /> | |
| <SubTree |
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Dave told me he didn't like the user having to enter a value for text-based segmentation. I think we can add another variant that does this later.
MikeWrock
reviewed
Feb 27, 2025
| clip_model_path="models/clip.onnx" | ||
| clipseg_model_path="models/clipseg.onnx" | ||
| erosion_size="2" | ||
| prompts="an object" |
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| prompts="an object" | |
| prompts="{prompts}" |
|
I wish we had some equivalent of RetryUntilSuccessful and ForEach put together, and it would be nice for an inverter to swallow its children's errors (or maybe convert it to info?) but the objective you have works as expected. Thanks! |
MikeWrock
approved these changes
Feb 27, 2025
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