Merge pull request #10 from iretiayo/annealing_params

adding ability to pass in parameters for the simulated annealing process
graspit-simulator · Feb 16, 2018 · 0effbd5 · 0effbd5
2 parents caf0d37 + 619b82c
commit 0effbd5
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/src/graspit_commander/graspit_commander.py b/src/graspit_commander/graspit_commander.py
@@ -12,6 +12,7 @@
     Robot,
     SearchContact,
     SearchSpace,
+    SimAnnParams,
     PlanGraspsAction,
     PlanGraspsGoal
 )
@@ -333,7 +334,8 @@ def planGrasps(cls,
                    search_contact=SearchContact(SearchContact.CONTACT_PRESET),
                    max_steps=70000,
                    feedback_cb=None,
-                   feedback_num_steps=-1):
+                   feedback_num_steps=-1,
+                   sim_ann_params=SimAnnParams()):
         try:
             rospy.init_node(cls.ROS_NODE_NAME, anonymous=True)
         except ROSException:
@@ -348,7 +350,8 @@ def planGrasps(cls,
                               search_space=search_space,
                               search_contact=search_contact,
                               max_steps=max_steps,
-                              feedback_num_steps=feedback_num_steps)
+                              feedback_num_steps=feedback_num_steps,
+                              sim_ann_params=sim_ann_params)
 
         client.send_goal(goal, feedback_cb=feedback_cb)
         client.wait_for_result()