Visualize quality and grasps

launch/active_grasp.rviz

@@ -3,9 +3,12 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
+      Expanded:
+        - /Grasps1/Status1
+        - /Markers1
+        - /Markers1/Namespaces1
       Splitter Ratio: 0.5
-    Tree Height: 471
+    Tree Height: 668
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -163,8 +166,6 @@ Visualization Manager:
           Value: false
         task:
           Value: true
-        world:
-          Value: false
       Marker Alpha: 1
       Marker Scale: 0.5
       Name: TF
@@ -188,7 +189,6 @@ Visualization Manager:
                               {}
                             panda_rightfinger:
                               {}
-        world:
           task:
             {}
       Update Interval: 0
@@ -221,6 +221,53 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Alpha: 0.20000000298023224
+      Autocompute Intensity Bounds: false
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 138; 226; 52
+      Max Intensity: 1
+      Min Color: 239; 41; 41
+      Min Intensity: 0
+      Name: Quality
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.007499999832361937
+      Style: Boxes
+      Topic: /quality
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: false
+      Value: true
+    - Alpha: 1
+      Arrow Length: 0.30000001192092896
+      Axes Length: 0.05000000074505806
+      Axes Radius: 0.009999999776482582
+      Class: rviz/PoseArray
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
+      Name: Grasps
+      Queue Size: 10
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
+      Shape: Axes
+      Topic: /grasps
+      Unreliable: false
+      Value: true
     - Alpha: 1
       Axes Length: 0.05000000074505806
       Axes Radius: 0.009999999776482582
@@ -242,7 +289,7 @@ Visualization Manager:
       Marker Topic: visualization_marker_array
       Name: Markers
       Namespaces:
-        bbox: true
+        bbox: false
         path: true
       Queue Size: 100
       Value: true
@@ -274,7 +321,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.2179546356201172
+      Distance: 1.2591626644134521
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -282,25 +329,25 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.2475447803735733
-        Y: 0.03526053577661514
-        Z: 0.4393550157546997
+        X: 0.2026486098766327
+        Y: -0.0014560874551534653
+        Z: 0.3729882836341858
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2147984653711319
+      Pitch: 0.299798846244812
       Target Frame: <Fixed Frame>
-      Yaw: 5.383471488952637
+      Yaw: 5.213493824005127
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 768
+  Height: 965
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000262fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000262000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003e50000003efc0100000002fb0000000800540069006d00650100000000000003e5000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002890000026200000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000327fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000327000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c50000003efc0100000002fb0000000800540069006d00650100000000000004c5000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003690000032700000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -309,6 +356,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 997
-  X: 876
-  Y: 127
+  Width: 1221
+  X: 1113
+  Y: 263