Add requirements.txt

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
+        X: 0.3386422395706177
-        Y: 0.05089891329407692
+        Y: -0.016611307859420776
-        Z: 0.41754576563835144
+        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: <Fixed 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: 000000ff00000000fd0000000400000000000001f300000362fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000362000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a004400650070007400680000000166000000b50000000000000000fb0000000a0049006d006100670065000000020b000000c70000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000217000001880000017d00fffffffb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c00460069006c0074006500720065006400200043006c006f00750064000000029a000001050000000000000000000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ec00000039fc0100000002fb0000000800540069006d00650100000000000005ec000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f30000036200000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -539,5 +466,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1516
-  X: 905
+  X: 866
-  Y: 139
+  Y: 41

requirements.txt

@@ -0,0 +1 @@
+scikit-image

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