From f341dc79d813d65095348e43d7b433277fa8561c Mon Sep 17 00:00:00 2001 From: luceharris Date: Thu, 26 Sep 2024 18:11:48 +0200 Subject: [PATCH] quick fix updating moma_repos & rviz for demo --- docker/scripts/moma_demo.repos | 2 +- moma_demos/grasp_demo/config/grasp_demo.rviz | 88 ++++++++++++++++---- 2 files changed, 72 insertions(+), 18 deletions(-) diff --git a/docker/scripts/moma_demo.repos b/docker/scripts/moma_demo.repos index 565be57d..76988f10 100644 --- a/docker/scripts/moma_demo.repos +++ b/docker/scripts/moma_demo.repos @@ -10,4 +10,4 @@ repositories: moma: type: git url: https://github.com/ethz-asl/moma.git - version: demo + version: 76850ac35235f97afb130746586d3047c37a81e0 diff --git a/moma_demos/grasp_demo/config/grasp_demo.rviz b/moma_demos/grasp_demo/config/grasp_demo.rviz index 66d1a326..595a3ce1 100644 --- a/moma_demos/grasp_demo/config/grasp_demo.rviz +++ b/moma_demos/grasp_demo/config/grasp_demo.rviz @@ -4,8 +4,10 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /MarkerArray1/Namespaces1 Splitter Ratio: 0.48490944504737854 + Tree Height: 808 - Class: rviz/Selection Name: Selection @@ -24,7 +26,7 @@ Panels: - Class: rviz/Time Name: Time SyncMode: 0 - SyncSource: RSCloud + SyncSource: SceneCloud - Class: control_gui/ButtonPanel Name: Mission Control Preferences: @@ -53,7 +55,9 @@ Visualization Manager: Reference Frame: Value: true - Class: rviz/TF + Enabled: true + Filter (blacklist): "" Filter (whitelist): "" Frame Timeout: 15 @@ -228,6 +232,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true panda_hand_tcp: Alpha: 1 Show Axes: false @@ -246,6 +251,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true panda_link1: Alpha: 1 Show Axes: false @@ -255,6 +261,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true panda_link2: Alpha: 1 Show Axes: false @@ -264,6 +271,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true panda_link3: Alpha: 1 Show Axes: false @@ -273,6 +281,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true panda_link4: Alpha: 1 Show Axes: false @@ -282,6 +291,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true panda_link5: Alpha: 1 Show Axes: false @@ -291,6 +301,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true panda_link6: Alpha: 1 Show Axes: false @@ -300,6 +311,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true panda_link7: Alpha: 1 Show Axes: false @@ -309,6 +321,7 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true panda_link8: Alpha: 1 Show Axes: false @@ -322,13 +335,45 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + wrist_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false wrist_camera_link: Alpha: 1 Show Axes: false Show Trail: false Value: true Name: RobotModel - Robot Description: /manipulator/robot_description + Robot Description: /robot_description TF Prefix: "" Update Interval: 0 Value: true @@ -336,6 +381,7 @@ Visualization Manager: - Acceleration_Scaling_Factor: 0.1 Class: moveit_rviz_plugin/MotionPlanning Enabled: false + JointsTab_Use_Radians: true Move Group Namespace: "" MoveIt_Allow_Approximate_IK: false MoveIt_Allow_External_Program: false @@ -471,8 +517,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: -9999 - Min Value: 9999 + Max Value: 0.2884718179702759 + Min Value: 0.2338208258152008 Value: true Axis: Z Channel Name: intensity @@ -508,7 +554,7 @@ Visualization Manager: Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 - Enabled: false + Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 1 @@ -521,11 +567,11 @@ Visualization Manager: Size (Pixels): 3 Size (m): 0.007499999832361937 Style: Boxes - Topic: /manipulator/map_cloud + Topic: /map_cloud Unreliable: false Use Fixed Frame: true Use rainbow: true - Value: false + Value: true - Alpha: 1 Autocompute Intensity Bounds: false Autocompute Value Bounds: @@ -551,7 +597,7 @@ Visualization Manager: Size (Pixels): 3 Size (m): 0.007499999832361937 Style: Boxes - Topic: /manipulator/quality + Topic: /quality Unreliable: false Use Fixed Frame: true Use rainbow: true @@ -570,12 +616,12 @@ Visualization Manager: Shaft Length: 0.23000000417232513 Shaft Radius: 0.009999999776482582 Shape: Axes - Topic: /manipulator/grasp_poses + Topic: /grasp_poses Unreliable: false Value: true - Class: rviz/MarkerArray Enabled: true - Marker Topic: /manipulator/visualization_marker_array + Marker Topic: /visualization_marker_array Name: MarkerArray Namespaces: grasp: true @@ -583,11 +629,13 @@ Visualization Manager: Queue Size: 100 Value: true - Alpha: 1 + Axes Length: 0.05000000074505806 Axes Radius: 0.009999999776482582 Class: rviz/Pose Color: 255; 25; 0 Enabled: true + Head Length: 0.30000001192092896 Head Radius: 0.10000000149011612 Name: Pose @@ -597,7 +645,9 @@ Visualization Manager: Shape: Axes Topic: /target Unreliable: false + Value: true + Enabled: true Global Options: Background Color: 48; 48; 48 @@ -626,7 +676,9 @@ Visualization Manager: Views: Current: Class: rviz/Orbit + Distance: 1.2434059381484985 + Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -634,23 +686,25 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.6347542405128479 - Y: 0.1345246136188507 - Z: 0.12484816461801529 + X: 0.24578146636486053 + Y: 0.19255565106868744 + Z: 0.37358254194259644 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 + Pitch: -0.06520330905914307 Target Frame: Yaw: 5.464844703674316 + Saved: ~ Window Geometry: Displays: - collapsed: true + collapsed: false Height: 1016 - Hide Left Dock: true + Hide Left Dock: false Hide Right Dock: true Mission Control: collapsed: false @@ -658,7 +712,7 @@ Window Geometry: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Time: @@ -669,4 +723,4 @@ Window Geometry: collapsed: false Width: 1868 X: 52 - Y: 27 + Y: 27 \ No newline at end of file