diff --git a/launch/active_grasp.rviz b/launch/active_grasp.rviz index e74bbb2..e226729 100644 --- a/launch/active_grasp.rviz +++ b/launch/active_grasp.rviz @@ -4,10 +4,10 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /TF1/Frames1 + - /PlanningScene1/Scene Geometry1 - /Markers1/Namespaces1 Splitter Ratio: 0.5 - Tree Height: 538 + Tree Height: 805 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -26,7 +26,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: Image + SyncSource: SceneCloud Preferences: PromptSaveOnExit: true Toolbars: @@ -62,10 +62,6 @@ 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 @@ -165,70 +161,6 @@ 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 - Show Trail: false - Value: true - panda_leftfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_rightfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true Loop Animation: false Robot Alpha: 0.5 Robot Color: 150; 50; 150 @@ -274,90 +206,99 @@ 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 - Show Trail: false - Value: true - panda_leftfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_rightfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true Robot Alpha: 1 Show Robot Collision: false Show Robot Visual: true Value: false Velocity_Scaling_Factor: 0.1 - - Class: rviz/TF + - Class: moveit_rviz_plugin/PlanningScene Enabled: false + Move Group Namespace: "" + Name: PlanningScene + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: false + Value: false + - Class: rviz/TF + Enabled: true Frame Timeout: 15 Frames: All Enabled: false + camera_optical_frame: + Value: true + panda_hand: + Value: false + panda_leftfinger: + Value: false + panda_link0: + Value: false + panda_link1: + Value: false + panda_link2: + Value: false + panda_link3: + Value: false + panda_link4: + Value: false + panda_link5: + Value: false + panda_link6: + Value: false + panda_link7: + Value: false + panda_link8: + Value: false + panda_rightfinger: + Value: false + task: + Value: true + world: + Value: false Marker Alpha: 1 - Marker Scale: 0.5 + Marker Scale: 0.4000000059604645 Name: TF Show Arrows: false Show Axes: true Show Names: true Tree: - {} + world: + panda_link0: + panda_link1: + panda_link2: + panda_link3: + panda_link4: + panda_link5: + panda_link6: + panda_link7: + panda_link8: + panda_hand: + camera_optical_frame: + {} + panda_leftfinger: + {} + panda_rightfinger: + {} + task: + {} Update Interval: 0 - Value: false + Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -457,18 +398,6 @@ Visualization Manager: path: true Queue Size: 100 Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera/depth/image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -497,7 +426,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.1316771507263184 + Distance: 1.379216194152832 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -505,17 +434,17 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.26778873801231384 - Y: 0.05089891329407692 - Z: 0.41754576563835144 + X: 0.3386422395706177 + Y: -0.016611307859420776 + Z: 0.429339200258255 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.27479735016822815 + Pitch: 0.3597939908504486 Target Frame: - Yaw: 5.182796955108643 + Yaw: 5.247860431671143 Saved: ~ Window Geometry: Displays: @@ -523,13 +452,11 @@ Window Geometry: Height: 1019 Hide Left Dock: false Hide Right Dock: true - Image: - collapsed: false MotionPlanning: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001f300000362fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000257000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a004400650070007400680000000166000000b50000000000000000fb0000000a0049006d006100670065010000029a000001050000001600fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000217000001880000017d00fffffffb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ec00000039fc0100000002fb0000000800540069006d00650100000000000005ec000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f30000036200000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 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 Selection: collapsed: false Time: @@ -539,5 +466,5 @@ Window Geometry: Views: collapsed: true Width: 1516 - X: 905 - Y: 139 + X: 866 + Y: 41 diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..391ca2f --- /dev/null +++ b/requirements.txt @@ -0,0 +1 @@ +scikit-image diff --git a/scripts/run.py b/scripts/run.py index 81a0c14..4951f63 100644 --- a/scripts/run.py +++ b/scripts/run.py @@ -33,7 +33,7 @@ def create_parser(): parser.add_argument("--runs", type=int, default=100) parser.add_argument("--logdir", type=Path, default="logs") parser.add_argument("--rate", type=int, default=5) - parser.add_argument("--seed", type=int, default=12) + parser.add_argument("--seed", type=int, default=1) return parser