Add requirements.txt

2021-09-06 17:02:25 +02:00 · 2021-09-06 17:02:25 +02:00 · ce804cf273
commit ce804cf273
parent b030d14a79
3 changed files with 91 additions and 163 deletions
--- 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: <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: 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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
--- a/requirements.txt
+++ b/requirements.txt
@ -0,0 +1 @@
+scikit-image
--- 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