could I know how to access the reachability map?

[jxtxwsbn]

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]

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 (<repo_root>/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