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Reject grasps outside the target bbox

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This commit is contained in:
Michel Breyer
2021-07-07 15:08:32 +02:00
parent 37bef05d70
commit f29d861fd4
7 changed files with 107 additions and 61 deletions
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68
launch/active_grasp.rviz
View File

@@ -6,7 +6,7 @@ Panels:
Expanded:
- /TF1/Tree1
Splitter Ratio: 0.5
Tree Height: 547
Tree Height: 595
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -173,23 +173,23 @@ Visualization Manager:
Show Axes: true
Show Names: true
Tree:
panda_link0:
panda_link1:
panda_link2:
panda_link3:
panda_link4:
panda_link5:
panda_link6:
panda_link7:
panda_link8:
panda_hand:
cam_optical_frame:
{}
panda_leftfinger:
{}
panda_rightfinger:
{}
world:
panda_link0:
panda_link1:
panda_link2:
panda_link3:
panda_link4:
panda_link5:
panda_link6:
panda_link7:
panda_link8:
panda_hand:
cam_optical_frame:
{}
panda_leftfinger:
{}
panda_rightfinger:
{}
task:
{}
Update Interval: 0
@@ -247,7 +247,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Spheres
Topic: /points
Topic: /cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -268,6 +268,14 @@ Visualization Manager:
Topic: /command
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /bbox
Name: BBox
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /path
@@ -279,7 +287,7 @@ Visualization Manager:
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /grasps
Name: PredictedGrasps
Name: Grasps
Namespaces:
{}
Queue Size: 100
@@ -312,7 +320,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 1.5376757383346558
Distance: 1.1227775812149048
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@@ -320,25 +328,25 @@ Visualization Manager:
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.192186176776886
Y: 0.14037109911441803
Z: 0.3879348933696747
X: 0.2026568502187729
Y: 0.13089965283870697
Z: 0.3290979564189911
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.21479728817939758
Pitch: 0.3197976350784302
Target Frame: <Fixed Frame>
Yaw: 5.193514823913574
Yaw: 5.398510456085205
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 844
Height: 892
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd000000040000000000000156000002aefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ae000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000397000002ae00000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000156000002defc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002de000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004fb0000003efc0100000002fb0000000800540069006d00650100000000000004fb000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000039f000002de00000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -347,6 +355,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1267
X: 100
Y: 457
Width: 1275
X: 61
Y: 200