Define task frame based on bbox

launch/active_grasp.launch

@@ -2,7 +2,7 @@
 <launch>
   <arg name="launch_rviz" default="false" />
 
-  <rosparam command="load" file="$(find active_grasp)/config/active_grasp.yaml" subst_value="true" />
+  <rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
 
   <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/franka/panda_arm_hand.urdf.xacro" />
 

launch/active_grasp.rviz

@@ -3,10 +3,9 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /TF1/Tree1
+      Expanded: ~
       Splitter Ratio: 0.5
-    Tree Height: 574
+    Tree Height: 471
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -137,9 +136,9 @@ Visualization Manager:
       Frames:
         All Enabled: false
         camera_optical_frame:
-          Value: true
-        panda_hand:
           Value: false
+        panda_hand:
+          Value: true
         panda_leftfinger:
           Value: false
         panda_link0:
@@ -165,7 +164,7 @@ Visualization Manager:
         task:
           Value: true
         world:
-          Value: true
+          Value: false
       Marker Alpha: 1
       Marker Scale: 0.5
       Name: TF
@@ -224,7 +223,7 @@ Visualization Manager:
       Value: true
     - Alpha: 1
       Axes Length: 0.05000000074505806
-      Axes Radius: 0.004999999888241291
+      Axes Radius: 0.009999999776482582
       Class: rviz/Pose
       Color: 255; 25; 0
       Enabled: true
@@ -244,6 +243,7 @@ Visualization Manager:
       Name: Markers
       Namespaces:
         bbox: true
+        path: true
       Queue Size: 100
       Value: true
   Enabled: true
@@ -274,7 +274,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.3517695665359497
+      Distance: 1.2179546356201172
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -282,25 +282,25 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.3073185980319977
-        Y: 0.050485748797655106
-        Z: 0.3944588601589203
+        X: 0.2475447803735733
+        Y: 0.03526053577661514
+        Z: 0.4393550157546997
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4747979938983917
+      Pitch: 0.2147984653711319
       Target Frame: <Fixed Frame>
-      Yaw: 5.098489761352539
+      Yaw: 5.383471488952637
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 871
+  Height: 768
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002c9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000050e0000003efc0100000002fb0000000800540069006d006501000000000000050e000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003b2000002c900000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000262fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000262000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003e50000003efc0100000002fb0000000800540069006d00650100000000000003e5000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002890000026200000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -309,6 +309,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1294
-  X: 104
-  Y: 374
+  Width: 997
+  X: 876
+  Y: 127