Seed the simulation
This commit is contained in:
Michel Breyer
@@ -2,11 +2,12 @@
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<launch>
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<arg name="launch_rviz" default="false" />
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<rosparam command="load" file="$(find active_grasp)launch/active_grasp.yaml" subst_value="true" />
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<rosparam command="load" file="$(find active_grasp)/config/active_grasp.yaml" subst_value="true" />
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<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/franka/panda_arm_hand.urdf.xacro" />
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<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/panda_arm_hand.urdf.xacro" />
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<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" if="$(arg launch_rviz)" />
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/config/active_grasp.rviz" if="$(arg launch_rviz)" />
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</launch>
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@@ -1,360 +0,0 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /TF1/Tree1
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Splitter Ratio: 0.5
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Tree Height: 595
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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cam_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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panda_hand:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_leftfinger:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link8:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_rightfinger:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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cam_optical_frame:
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Value: false
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panda_hand:
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Value: false
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panda_leftfinger:
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Value: false
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panda_link0:
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Value: false
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panda_link1:
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Value: false
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panda_link2:
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Value: false
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panda_link3:
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Value: false
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panda_link4:
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Value: false
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panda_link5:
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Value: false
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panda_link6:
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Value: false
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panda_link7:
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Value: false
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panda_link8:
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Value: false
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panda_rightfinger:
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Value: false
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task:
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Value: true
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world:
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Value: true
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Marker Alpha: 1
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Marker Scale: 0.5
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Name: TF
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Show Arrows: false
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Show Axes: true
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Show Names: true
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Tree:
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world:
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panda_link0:
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panda_link1:
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panda_link2:
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panda_link3:
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panda_link4:
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panda_link5:
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panda_link6:
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panda_link7:
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panda_link8:
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panda_hand:
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cam_optical_frame:
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{}
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panda_leftfinger:
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{}
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panda_rightfinger:
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{}
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task:
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{}
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Update Interval: 0
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Value: true
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- Alpha: 0.20000000298023224
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Autocompute Intensity Bounds: false
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: TSDF
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.007499999832361937
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Style: Boxes
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Topic: /tsdf
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: SceneCloud
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Spheres
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Topic: /cloud
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Axes Length: 0.05000000074505806
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Axes Radius: 0.004999999888241291
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Class: rviz/Pose
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Color: 255; 25; 0
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Enabled: true
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Name: EETarget
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Queue Size: 10
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Shape: Axes
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Topic: /command
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Unreliable: false
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Value: true
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /bbox
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Name: BBox
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: /path
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Name: CameraPath
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: /grasps
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Name: Grasps
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: panda_link0
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.5774216651916504
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: 0.2026568502187729
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Y: 0.13089965283870697
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Z: 0.3290979564189911
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.3197976350784302
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Target Frame: <Fixed Frame>
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Yaw: 5.398510456085205
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 892
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd000000040000000000000156000002defc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002de000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004fb0000003efc0100000002fb0000000800540069006d00650100000000000004fb000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000039f000002de00000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 1275
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X: 61
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Y: 163
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@@ -1,18 +0,0 @@
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bt_sim:
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gui: True
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seed: 12
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active_grasp:
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frame_id: task
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length: 0.3
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base_frame_id: panda_link0
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ee_frame_id: panda_hand
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ee_grasp_offset: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.065]
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camera:
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frame_id: camera_optical_frame
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info_topic: /camera/depth/camera_info
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depth_topic: /camera/depth/image_raw
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vgn:
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model: $(find vgn)/assets/models/vgn_conv.pth
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finger_depth: 0.05
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Reference in New Issue
Block a user