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Use KDL for checking IKs

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This commit is contained in:
Michel Breyer
2021-09-12 00:21:58 +02:00
parent e8dff9bf5c
commit c821f22523
6 changed files with 76 additions and 53 deletions
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90
launch/active_grasp.rviz
View File

@@ -6,7 +6,7 @@ Panels:
Expanded:
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 338
Tree Height: 755
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -25,7 +25,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: DepthImage
SyncSource: SceneCloud
Preferences:
PromptSaveOnExit: true
Toolbars:
@@ -51,6 +51,18 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /camera/color/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: ColorImage
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /camera/depth/image_rect_raw
@@ -98,7 +110,12 @@ Visualization Manager:
Marker Topic: visualization_marker_array
Name: Markers
Namespaces:
{}
bbox: true
best_grasp: true
grasps: true
path: true
views: true
workspace: true
Queue Size: 100
Value: true
- Acceleration_Scaling_Factor: 0.1
@@ -134,6 +151,10 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
panda_hand:
Alpha: 1
Show Axes: false
@@ -239,6 +260,10 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
panda_hand:
Alpha: 1
Show Axes: false
@@ -397,6 +422,10 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
camera_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
panda_hand:
Alpha: 1
Show Axes: false
@@ -498,12 +527,10 @@ Visualization Manager:
All Enabled: false
camera_depth_optical_frame:
Value: true
panda_EE:
Value: true
panda_K:
camera_optical_frame:
Value: true
panda_hand:
Value: false
Value: true
panda_leftfinger:
Value: false
panda_link0:
@@ -526,6 +553,8 @@ Visualization Manager:
Value: false
panda_rightfinger:
Value: false
task:
Value: true
world:
Value: false
Marker Alpha: 1
@@ -545,30 +574,19 @@ Visualization Manager:
panda_link6:
panda_link7:
panda_link8:
camera_depth_optical_frame:
{}
panda_EE:
panda_K:
{}
panda_hand:
camera_depth_optical_frame:
{}
camera_optical_frame:
{}
panda_leftfinger:
{}
panda_rightfinger:
{}
task:
{}
Update Interval: 0
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /camera/color/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: ColorImage
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -597,7 +615,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 1.8815758228302002
Distance: 1.4805835485458374
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@@ -605,17 +623,17 @@ Visualization Manager:
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.4086047410964966
Y: 0.23318199813365936
Z: 0.28523021936416626
X: 0.2569250166416168
Y: 0.09482234716415405
Z: 0.4617196023464203
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3297969102859497
Pitch: 0.31479594111442566
Target Frame: <Fixed Frame>
Yaw: 5.052877902984619
Yaw: 5.353035926818848
Saved: ~
Window Geometry:
ColorImage:
@@ -624,14 +642,14 @@ Window Geometry:
collapsed: false
Displays:
collapsed: false
Height: 960
Height: 969
Hide Left Dock: false
Hide Right Dock: true
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 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
QMainWindow State: 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
Selection:
collapsed: false
Time:
@@ -640,6 +658,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 0
Y: 27
Width: 1436
X: 911
Y: 73