hofee/nbv_sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Commit Graph

  • b91ced08d9 Create collision objects from the reconstruction Michel Breyer 2021-10-11 22:44:46 +02:00
  • ae92e1bb99 Fix Michel Breyer 2021-10-11 14:51:42 +02:00
  • 17b9347976 Select local_maxima instead of grid Michel Breyer 2021-10-11 14:31:31 +02:00
  • fcee4a9517 Reuse box lines computation Michel Breyer 2021-10-08 17:19:36 +02:00
  • fcc5045671 Read nbv params from the rosparam server Michel Breyer 2021-10-08 15:41:50 +02:00
  • 5e1876432b Adjust candidate view parameters Michel Breyer 2021-10-08 15:21:35 +02:00
  • e343ee401f Add normal vel only when min_z is violated Michel Breyer 2021-10-08 15:21:20 +02:00
  • 8df7118ae2 Minor fix Michel Breyer 2021-10-08 14:48:26 +02:00
  • 8aea48e3e9 Reduce the policy rate Michel Breyer 2021-10-08 14:30:02 +02:00
  • 13dfaa47d0 Recompute candidate views every policy update Michel Breyer 2021-10-08 14:14:15 +02:00
  • 6ec5272394 Minor Michel Breyer 2021-10-08 13:53:07 +02:00
  • c1710eb2da Move src files Michel Breyer 2021-10-08 10:34:38 +02:00
  • 0fb572ee72 Update policy name Michel Breyer 2021-09-14 12:43:39 +02:00
  • 86f96e28c8 Comment velocity controller Michel Breyer 2021-09-14 12:37:48 +02:00
  • 2835bb7c87 Update random scene generation Michel Breyer 2021-09-14 11:58:33 +02:00
  • f37046120f Add a second kitchen scene Michel Breyer 2021-09-14 11:36:28 +02:00
  • e055dd0486 Add kitchen scene Michel Breyer 2021-09-14 11:20:58 +02:00
  • 59ce141072 Fix mustard scenes Michel Breyer 2021-09-14 10:28:31 +02:00
  • c8ef408252 Reduce downsampling Michel Breyer 2021-09-13 23:31:52 +02:00
  • c3da978753 Add min IG stopping criterion Michel Breyer 2021-09-13 23:15:52 +02:00
  • 9d25cba092 Update rviz config Michel Breyer 2021-09-13 18:30:58 +02:00
  • 8e31931609 Minor Michel Breyer 2021-09-13 18:29:41 +02:00
  • e9344a4db2 Render grasp colors based on their quality Michel Breyer 2021-09-13 11:49:13 +02:00
  • b41d70df66 Clear old grasp grasp markers Michel Breyer 2021-09-12 18:19:10 +02:00
  • f2a12efb0f Accumulate times Michel Breyer 2021-09-12 17:55:42 +02:00
  • 732effa39f Minor Michel Breyer 2021-09-12 17:11:42 +02:00
  • efe6e9d1bd Clear best grasp in case of no predictions Michel Breyer 2021-09-12 16:48:31 +02:00
  • 9f06bb27be Add C-space score function Michel Breyer 2021-09-12 16:23:10 +02:00
  • 8ba015b1ef Add robot configuration to the state Michel Breyer 2021-09-12 14:40:17 +02:00
  • 027a925693 Speedup raycasting with numba Michel Breyer 2021-09-12 14:20:37 +02:00
  • 54bd24ff75 Clean up ray casting Michel Breyer 2021-09-12 12:02:34 +02:00
  • 1416c25cc5 Add more timers Michel Breyer 2021-09-12 11:29:58 +02:00
  • b9e0aab1f7 Update view candidates Michel Breyer 2021-09-12 01:02:48 +02:00
  • c821f22523 Use KDL for checking IKs Michel Breyer 2021-09-12 00:21:58 +02:00
  • e8dff9bf5c Add stable grasp prediction stopping criteria Michel Breyer 2021-09-11 22:31:48 +02:00
  • 8d3f2c1a1a Match realsense depth topic name Michel Breyer 2021-09-11 21:02:14 +02:00
  • 65bdb5422d Move on a half sphere Michel Breyer 2021-09-11 20:49:55 +02:00
  • 4ebd587553 Share view computation among all policies Michel Breyer 2021-09-11 14:52:27 +02:00
  • 3550b49669 Prune nbv candidates using moveit Michel Breyer 2021-09-11 13:35:49 +02:00
  • 839b6e4e1c Compute nbv candidates based on min depth distance Michel Breyer 2021-09-11 13:23:54 +02:00
  • 0203f93d7e Check kinematics of the top baselines Michel Breyer 2021-09-11 12:00:52 +02:00
  • 7e6eb53fa7 Fix order of setting the arm configuration Michel Breyer 2021-09-11 10:55:48 +02:00
  • 6514872b74 Add test scenes Michel Breyer 2021-09-10 23:29:15 +02:00
  • 15f120f207 Reload scene config Michel Breyer 2021-09-09 21:19:30 +02:00
  • 35bb9eaff0 Add launch file for panda Michel Breyer 2021-09-09 13:26:01 +02:00
  • 83b2c173cd Update colors Michel Breyer 2021-09-08 19:50:13 +02:00
  • d955931590 Improve bbox visualization Michel Breyer 2021-09-08 18:45:13 +02:00
  • b781c47328 Remove calibration error Michel Breyer 2021-09-08 17:32:21 +02:00
  • 1fb2eaf2b6 Define custom scenes via yaml files Michel Breyer 2021-09-08 16:50:53 +02:00
  • 60443b0c2f Move initial config sampling to the scene Michel Breyer 2021-09-07 23:18:10 +02:00
  • fa4b0f07ad Refactor simulated scenes Michel Breyer 2021-09-07 22:29:42 +02:00
  • ce804cf273 Add requirements.txt Michel Breyer 2021-09-06 17:02:25 +02:00
  • b030d14a79 Add collision object for table Michel Breyer 2021-09-06 16:28:20 +02:00
  • 184b380ea9 Change score function Michel Breyer 2021-09-06 13:36:14 +02:00
  • 6c0a39b175 Switch nbv policy to velocity commands Michel Breyer 2021-09-06 10:11:07 +02:00
  • 1d00ed0f02 Fix initial view baseline Michel Breyer 2021-09-04 17:17:29 +02:00
  • 9751b51f33 Interpolate trajectories Michel Breyer 2021-09-04 16:52:11 +02:00
  • 3f3b58f404 Execute grasps with MoveIt Michel Breyer 2021-09-04 15:50:29 +02:00
  • c508c65038 Improve plugin activation Michel Breyer 2021-09-03 23:07:30 +02:00
  • b4f68e78cc Switch to velocity control Michel Breyer 2021-09-03 22:39:17 +02:00
  • 81588a1075 Move towards best grasp candidate Michel Breyer 2021-09-03 17:10:36 +02:00
  • f43688023b Visualize best grasp Michel Breyer 2021-09-03 11:50:14 +02:00
  • 98abe3789d Small touch to the visualization Michel Breyer 2021-08-30 12:51:38 +02:00
  • 9f0e2789cf Add camera calibration error Michel Breyer 2021-08-27 10:52:27 +02:00
  • 764288d3ac Apply noise to the synthetic depth images Michel Breyer 2021-08-26 13:37:09 +02:00
  • 7a53fddc31 Minor Michel Breyer 2021-08-26 11:43:03 +02:00
  • 813e9cd6c5 Remove unused variable Michel Breyer 2021-08-26 11:18:16 +02:00
  • 9b944c9d36 Fixed multi-view baselines Michel Breyer 2021-08-25 21:32:47 +02:00
  • 5501c2ae42 Single view baselines Michel Breyer 2021-08-25 18:29:10 +02:00
  • fc8d9a8791 Small change to the visualization Michel Breyer 2021-08-25 14:57:43 +02:00
  • 327826de90 Minimum gain and max duration stopping criteria Michel Breyer 2021-08-18 12:31:28 +02:00
  • d3e0d58c05 Count rear side voxels Michel Breyer 2021-08-18 10:40:10 +02:00
  • 37ac25796f Detect surface crossings Michel Breyer 2021-08-18 10:05:04 +02:00
  • a55b02b9ed Latch visualization topics Michel Breyer 2021-08-18 09:58:03 +02:00
  • 2614a9e9af Fix lower bound of rays Michel Breyer 2021-08-17 22:12:52 +02:00
  • 423db80e29 Step along rays Michel Breyer 2021-08-17 21:56:05 +02:00
  • 231e337c0f Improve grasp visualization Michel Breyer 2021-08-17 20:53:03 +02:00
  • 685e41dde2 Explicitly initialize tf broadcaster Michel Breyer 2021-08-17 16:43:11 +02:00
  • 26f7103237 Pass frame explicitly to each visualization method Michel Breyer 2021-08-17 16:24:23 +02:00
  • 69e6acf00b Fix wrong transform Michel Breyer 2021-08-17 09:32:59 +02:00
  • ac5c490ae8 Draw colored camera views in rviz Michel Breyer 2021-08-16 17:38:17 +02:00
  • 4b4d54240b Only cast rays that intersect with the bbox Michel Breyer 2021-08-16 15:33:52 +02:00
  • 6da198a5bf Compute ray directions Michel Breyer 2021-08-13 14:47:17 +02:00
  • 164109c4bd Generate candidate viewpoints Michel Breyer 2021-08-13 14:47:04 +02:00
  • ffd342e073 Update rviz config Michel Breyer 2021-08-12 13:22:15 +02:00
  • 9c16ecc603 Nbv skeleton Michel Breyer 2021-08-11 18:10:06 +02:00
  • f594b73a67 Remove unused import Michel Breyer 2021-08-11 18:04:17 +02:00
  • 2a31fe3cb1 Rename launch file Michel Breyer 2021-08-11 18:03:44 +02:00
  • 1e6d933e53 Visualize quality and grasps Michel Breyer 2021-08-10 18:52:03 +02:00
  • 5a33561abb Fix issue with nans Michel Breyer 2021-08-10 17:17:37 +02:00
  • 020adebfd3 Fix init of baselines Michel Breyer 2021-08-10 11:02:56 +02:00
  • 0beca41c39 Compute mean over recent grasp predictions Michel Breyer 2021-08-09 15:19:17 +02:00
  • 4eeb309a8f Pass arguments directly to the policy Michel Breyer 2021-08-06 15:23:50 +02:00
  • 6fa4007727 Move timer to a separate module Michel Breyer 2021-08-05 13:45:22 +02:00
  • 5d17498084 Define task frame based on bbox Michel Breyer 2021-08-03 18:11:30 +02:00
  • 8a0dd9fd45 Merge branch 'devel' of github.com:mbreyer/active_grasp into devel Michel Breyer 2021-07-22 11:29:05 +02:00
  • 859422bc6c Move rviz config Michel Breyer 2021-07-22 11:28:53 +02:00
  • 1aa676f340 Seed the simulation Michel Breyer 2021-07-22 11:05:30 +02:00
  • 7a1756e87e Move results to an external folder Michel Breyer 2021-07-15 13:09:44 +02:00
  • ed40db562e Read cam update rate from the config file Michel Breyer 2021-07-14 17:01:34 +02:00