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  • 7dcb6fb027 Save default rviz view Michel Breyer 2021-12-03 16:11:55 +01:00
  • ae786fc58a Update rviz Michel Breyer 2021-12-03 15:22:45 +01:00
  • da73f8211c Cleanup launch files Michel Breyer 2021-12-03 15:21:09 +01:00
  • 3f53671b3c Update rviz config Michel Breyer 2021-12-03 15:05:19 +01:00
  • 571b382654 Open gripper after each run Michel Breyer 2021-12-03 14:48:51 +01:00
  • 1c3764f785 Change default value of CL argument Michel Breyer 2021-12-03 14:13:59 +01:00
  • e6e116bf54 Open the gripper before each trial Michel Breyer 2021-12-03 14:10:32 +01:00
  • c0ae6e2333 Fix depth img encoding Michel Breyer 2021-12-03 14:06:26 +01:00
  • d8ea9683db Load scene config Michel Breyer 2021-12-03 13:52:07 +01:00
  • e7aa81fed3 Minor Michel Breyer 2021-12-03 11:49:50 +01:00
  • e765d5a974 Read base tag transform Michel Breyer 2021-12-03 11:11:57 +01:00
  • 55cecdcd9a Merge branch 'devel' of github.com:mbreyer/active_grasp into devel Michel Breyer 2021-12-03 10:53:48 +01:00
  • ecb6da23eb Launch AprilTag Michel Breyer 2021-12-03 10:53:23 +01:00
  • bcbeb3ebed Update metrics Michel Breyer 2021-11-26 13:55:54 +01:00
  • ba03f501b7 Move hand-eye calibration back to the URDF Michel Breyer 2021-11-24 17:50:13 +01:00
  • e2ca22fa5b Merge branch 'devel' of github.com:mbreyer/active_grasp into devel Michel Breyer 2021-11-24 17:14:14 +01:00
  • 488a04f5ae Change order of launch file Michel Breyer 2021-11-24 17:14:11 +01:00
  • 40d48afbdc Load controller param file Michel Breyer 2021-11-24 17:08:23 +01:00
  • 79276af66f Add hand-eye calibration Michel Breyer 2021-11-24 17:03:14 +01:00
  • 2f6fdf9c76 Remove unused imports Michel Breyer 2021-11-24 16:26:38 +01:00
  • f361f1ee92 Add hw reset node Michel Breyer 2021-11-24 16:26:26 +01:00
  • bcd270414f Read cartesian controller topic from rosparam Michel Breyer 2021-11-24 11:34:12 +01:00
  • 2e1f3eb4a7 Add launch file for panda Michel Breyer 2021-11-19 18:04:54 +01:00
  • 90714da7db Move rviz config Michel Breyer 2021-11-19 17:35:20 +01:00
  • 939c5dba68 Add simulation argument to the launch file Michel Breyer 2021-11-18 15:40:32 +01:00
  • 40db08421b Rename scene Michel Breyer 2021-11-12 16:02:57 +01:00
  • 6494970bad Update policy parameters Michel Breyer 2021-11-12 15:08:34 +01:00
  • ed29ebae58 Print nbv-grasp times Michel Breyer 2021-11-11 17:23:38 +01:00
  • fb69de24ef Update rviz config Michel Breyer 2021-11-11 15:20:06 +01:00
  • 64730721cd Update min IG stopping criterion Michel Breyer 2021-11-11 15:19:49 +01:00
  • 524f4465dd Minor Michel Breyer 2021-11-11 10:39:57 +01:00
  • 3c39453aa8 Relax stopping criterion Michel Breyer 2021-11-10 16:46:34 +01:00
  • f75d70f7bc Update scene 1 Michel Breyer 2021-11-10 16:44:35 +01:00
  • 3fde514209 Add pot scene Michel Breyer 2021-11-10 16:41:38 +01:00
  • e521ec4b0f Update angular velocity gain Michel Breyer 2021-11-10 16:38:59 +01:00
  • 406c53b309 Fix transform Michel Breyer 2021-11-10 14:52:48 +01:00
  • 0ac5ca20aa Minor Michel Breyer 2021-11-10 12:15:33 +01:00
  • 5f9c52bc19 Rename nbv policy Michel Breyer 2021-11-10 10:50:51 +01:00
  • d351416b6d Change order of bbox visualization Michel Breyer 2021-11-10 10:48:50 +01:00
  • 533e6db06d Log motion plan failures Michel Breyer 2021-11-09 23:00:59 +01:00
  • 4d5bb8c52c Update min IG Michel Breyer 2021-11-09 19:32:13 +01:00
  • c53378d33d Compute IG only for voxels within the bounding box Michel Breyer 2021-11-09 19:21:39 +01:00
  • 2b8c66b318 Clear the whole planning scene before approaching Michel Breyer 2021-11-09 17:10:39 +01:00
  • 1f6892bc2c Compute standard deviations Michel Breyer 2021-11-09 17:10:17 +01:00
  • db681cea01 Increase time for the planning scene to update Michel Breyer 2021-11-09 15:27:36 +01:00
  • b5f12baaba Update dbscan parameters Michel Breyer 2021-11-09 15:10:42 +01:00
  • acabbfcbb4 Test cluster parameters Michel Breyer 2021-11-09 15:04:40 +01:00
  • 97517fb755 Remove unused configs Michel Breyer 2021-11-09 11:59:57 +01:00
  • 2805be52e2 Update rviz config Michel Breyer 2021-11-09 11:56:21 +01:00
  • 8052784cc0 Check whether the target is graspable Michel Breyer 2021-11-09 11:53:16 +01:00
  • 39e17ca5b7 Remove unused variables Michel Breyer 2021-11-09 11:48:54 +01:00
  • 8c5d015414 Reset joint publishing rate Michel Breyer 2021-11-09 11:48:38 +01:00
  • 1dd6f7875e Add script to test the simulation Michel Breyer 2021-11-09 11:48:18 +01:00
  • 0cdc5dd127 Minor Michel Breyer 2021-11-08 15:51:19 +01:00
  • 90a392b15c Udate scene 2 Michel Breyer 2021-11-08 15:09:36 +01:00
  • 945c912347 Specify MoveIt velocity scaling Michel Breyer 2021-11-08 15:09:27 +01:00
  • 2df4f09d0b Fix Michel Breyer 2021-11-08 14:39:44 +01:00
  • e78c70f173 Rename scenes Michel Breyer 2021-11-08 14:12:14 +01:00
  • 9fccea5681 Check whether grasp can be reached Michel Breyer 2021-11-08 13:13:43 +01:00
  • c82e7bde50 Minor Michel Breyer 2021-11-08 11:43:06 +01:00
  • fc77391d6e Rename scenes Michel Breyer 2021-11-08 10:33:15 +01:00
  • 6d7a9fc3e2 Minor Michel Breyer 2021-11-06 15:06:28 +01:00
  • 3c268c7a5d Change definition of ROI wrt target bbox Michel Breyer 2021-11-06 13:39:53 +01:00
  • 73d71f2bf7 Update scene 2 Michel Breyer 2021-11-06 10:12:16 +01:00
  • d7c30353d3 Print metrics of an experiment Michel Breyer 2021-11-05 20:38:03 +01:00
  • 9580b5c620 Use trac_ik solver Michel Breyer 2021-11-05 15:53:15 +01:00
  • 3d7a8c8ba9 Catch rare qhull errors Michel Breyer 2021-11-04 20:08:16 +01:00
  • 33d123e3ee Minor Michel Breyer 2021-11-04 20:07:57 +01:00
  • 29b3ba7759 Update scene 3 Michel Breyer 2021-11-04 19:29:50 +01:00
  • 772bf603f7 Update scene 2 Michel Breyer 2021-11-04 19:18:49 +01:00
  • 7db03ff39e Specify xyz bounds for randomizing object location Michel Breyer 2021-11-04 18:20:47 +01:00
  • cdd3cfb686 Update urdf paths Michel Breyer 2021-11-04 17:49:42 +01:00
  • a6b48ce3f1 Update scene 1 Michel Breyer 2021-11-04 17:38:03 +01:00
  • 51ace4db01 Update score function Michel Breyer 2021-11-04 17:37:51 +01:00
  • 5d635cb540 Improve seeding behavior Michel Breyer 2021-11-04 16:48:25 +01:00
  • 3b44940e36 Prevent division by zero Michel Breyer 2021-11-04 15:21:36 +01:00
  • c9b6ecbad1 Merge branch 'devel' of github.com:mbreyer/active_grasp into devel Michel Breyer 2021-11-04 15:15:22 +01:00
  • 0cafc20ead Use the Open3D wrapper of qhull Michel Breyer 2021-11-04 15:04:10 +01:00
  • d307d7d57e Add TODO Michel Breyer 2021-10-28 13:43:08 +02:00
  • 4a884fdc11 WIP Michel Breyer 2021-10-27 15:43:01 +02:00
  • 8f6f18d296 Minor Michel Breyer 2021-10-27 14:52:07 +02:00
  • f311ac4eed Decrease MoveIt planning time Michel Breyer 2021-10-27 14:29:34 +02:00
  • b1eef0d6ef Option to add random noise to object locations Michel Breyer 2021-10-27 14:29:18 +02:00
  • cc42ff66e8 Add collision object for the support plane Michel Breyer 2021-10-25 11:09:13 +02:00
  • a7f05f9354 Switch to RRTStar Michel Breyer 2021-10-25 10:47:01 +02:00
  • 305654a200 Minor formatting Michel Breyer 2021-10-13 17:39:28 +02:00
  • 787dbb0e68 Add evaluation script Michel Breyer 2021-10-13 15:44:45 +02:00
  • 1532d66b6e Adjust pregrasp pose Michel Breyer 2021-10-13 15:44:22 +02:00
  • c6126d5a3f Make logdir Michel Breyer 2021-10-13 15:44:06 +02:00
  • 50d18f349b Update rviz config Michel Breyer 2021-10-13 14:56:13 +02:00
  • 05efe83c50 Simplify file structure Michel Breyer 2021-10-13 14:43:26 +02:00
  • 30ab57e7d2 Increase planning time Michel Breyer 2021-10-13 14:21:50 +02:00
  • 51c4f8861a Minor Michel Breyer 2021-10-13 14:04:01 +02:00
  • 3cc4fb159b Approach grasp and lift with Cartesian planner Michel Breyer 2021-10-13 13:55:18 +02:00
  • 8a1b8130dc Change MoveIt planner Michel Breyer 2021-10-13 11:59:10 +02:00
  • e5da49d0a6 Read gripper force from the config file Michel Breyer 2021-10-13 11:19:47 +02:00
  • 00fb19f5eb Grasp using velocity control Michel Breyer 2021-10-12 19:42:37 +02:00
  • 505b768cce Minor Michel Breyer 2021-10-12 17:57:09 +02:00
  • a4e170966a Attach the target collision object before grasping Michel Breyer 2021-10-12 17:42:48 +02:00
  • 5815a2a66c Create separate collision objects Michel Breyer 2021-10-12 17:16:41 +02:00