diff --git a/cfg/active_grasp.rviz b/cfg/active_grasp.rviz index 53b2b0c..23666d4 100644 --- a/cfg/active_grasp.rviz +++ b/cfg/active_grasp.rviz @@ -1,11 +1,12 @@ Panels: - Class: rviz/Displays - Help Height: 0 + Help Height: 70 Name: Displays Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.501006007194519 - Tree Height: 419 + Expanded: + - /TF1/Frames1 + Splitter Ratio: 0.6881287693977356 + Tree Height: 286 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -18,7 +19,6 @@ Panels: - Class: rviz/Views Expanded: - /Current View1 - - /Current View1/Focal Point1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time @@ -56,6 +56,52 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false + camera_color_frame: + Value: false + camera_color_optical_frame: + Value: false + camera_depth_frame: + Value: false + camera_depth_optical_frame: + Value: true + camera_link: + Value: false + panda_EE: + Value: false + panda_K: + Value: false + panda_NE: + Value: false + 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 + tag_0: + Value: false + task: + Value: false + world: + Value: false Marker Alpha: 1 Marker Scale: 0.30000001192092896 Name: TF @@ -63,7 +109,27 @@ Visualization Manager: Show Axes: true Show Names: false Tree: - {} + world: + panda_link0: + panda_link1: + panda_link2: + panda_link3: + panda_link4: + panda_link5: + panda_link6: + panda_link7: + camera_depth_optical_frame: + {} + panda_link8: + panda_NE: + panda_EE: + panda_K: + {} + panda_hand: + panda_leftfinger: + {} + panda_rightfinger: + {} Update Interval: 0 Value: true - Alpha: 1 @@ -76,6 +142,70 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + camera_depth_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 Name: RobotModel Robot Description: robot_description TF Prefix: "" @@ -84,7 +214,7 @@ Visualization Manager: Visual Enabled: true - Acceleration_Scaling_Factor: 0.1 Class: moveit_rviz_plugin/MotionPlanning - Enabled: true + Enabled: false Move Group Namespace: "" MoveIt_Allow_Approximate_IK: false MoveIt_Allow_External_Program: false @@ -137,7 +267,7 @@ Visualization Manager: Goal State Color: 250; 128; 0 Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 - Planning Group: hand + Planning Group: "" Query Goal State: true Query Start State: false Show Workspace: false @@ -163,7 +293,7 @@ Visualization Manager: Robot Alpha: 1 Show Robot Collision: false Show Robot Visual: true - Value: true + Value: false Velocity_Scaling_Factor: 0.1 - Class: moveit_rviz_plugin/PlanningScene Enabled: false @@ -190,18 +320,6 @@ Visualization Manager: Show Robot Collision: false Show Robot Visual: false Value: false - - Class: rviz/Image - Enabled: false - Image Topic: /camera/color/image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: ColorImage - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -214,7 +332,7 @@ Visualization Manager: Color: 255; 255; 255 Color Transformer: RGB8 Decay Time: 0 - Enabled: false + Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 @@ -229,9 +347,21 @@ Visualization Manager: Unreliable: false Use Fixed Frame: true Use rainbow: true - Value: false + Value: true - Class: rviz/Image Enabled: true + Image Topic: /camera/color/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: ColorImage + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false Image Topic: /camera/depth/image_rect_raw Max Value: 1 Median window: 5 @@ -241,7 +371,7 @@ Visualization Manager: Queue Size: 2 Transport Hint: raw Unreliable: false - Value: true + Value: false - Class: rviz/MarkerArray Enabled: true Marker Topic: visualization_marker_array @@ -366,25 +496,25 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.5308048725128174 + Distance: 1.2000000476837158 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Field of View: 0.7853981852531433 + Field of View: 0.7799999713897705 Focal Point: - X: 0.34312182664871216 - Y: -0.10157600790262222 - Z: 0.30506056547164917 + X: 0.5 + Y: 0 + Z: 0.4000000059604645 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.4247966408729553 + Pitch: 0.25999999046325684 Target Frame: - Yaw: 1.9687141180038452 + Yaw: 1.0399999618530273 Saved: ~ Window Geometry: ColorImage: @@ -393,14 +523,14 @@ Window Geometry: collapsed: false Displays: collapsed: false - Height: 837 + Height: 960 Hide Left Dock: false Hide Right Dock: true MotionPlanning: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 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Selection: collapsed: false Time: @@ -408,7 +538,7 @@ Window Geometry: Tool Properties: collapsed: false Views: - collapsed: false - Width: 1098 - X: 821 + collapsed: true + Width: 1920 + X: 0 Y: 27