Add mesh_detail attribute to select gripper mesh resolution#15
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btshrewsbury-viam wants to merge 1 commit into
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Add mesh_detail attribute to select gripper mesh resolution#15btshrewsbury-viam wants to merge 1 commit into
btshrewsbury-viam wants to merge 1 commit into
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The gripper's Geometries() mesh doubles as the motion-planning collision
geometry, so it was decimated to keep planning responsive. Add a
mesh_detail attribute ("high" / "low", default "low") to both gripper
models so a full-resolution gripper and a decimated one can run on the
same machine for a planning/visual side-by-side.
- meshes/gripper/ now holds high/ and low/ variants of each PLY;
gen_gripper_meshes.py emits both detail levels.
- meshes.go embeds meshes/gripper as an embed.FS; buildGripperMeshes
reads the PLY for the requested detail level.
- mesh_detail added to SO101GripperConfig and SO101SimulatedGripperConfig
(validated; defaults to "low" so existing configs are unchanged).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Summary
The gripper's
Geometries()mesh doubles as the motion-planning collision geometry, so it was decimated to keep planning responsive. This adds amesh_detailattribute (high/low, defaultlow) to both gripper models, so a full-resolution gripper and a decimated one can run on the same machine for a planning/visual side-by-side.Changes
meshes/gripper/now holdshigh/andlow/variants of each PLY;gen_gripper_meshes.pyemits both detail levels.meshes.goembedsmeshes/gripperas anembed.FS;buildGripperMeshesreads the PLY for the requested detail level.mesh_detailadded toSO101GripperConfigandSO101SimulatedGripperConfig— validated; defaults tolow, so existing configs are unchanged.Testing
go testcovers both detail levels inbuildGripperMeshes(high denser than low) and the end-to-end attribute wiring on the simulated gripper;make bin/armconfirms the Makefile glob and theembed.FS.🤖 Generated with Claude Code