Michel Breyer
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fcee4a9517
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Reuse box lines computation
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2021-10-08 17:19:36 +02:00 |
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Michel Breyer
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fcc5045671
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Read nbv params from the rosparam server
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2021-10-08 15:41:50 +02:00 |
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Michel Breyer
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5e1876432b
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Adjust candidate view parameters
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2021-10-08 15:21:35 +02:00 |
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Michel Breyer
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e343ee401f
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Add normal vel only when min_z is violated
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2021-10-08 15:21:20 +02:00 |
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Michel Breyer
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8df7118ae2
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Minor fix
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2021-10-08 14:48:26 +02:00 |
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Michel Breyer
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8aea48e3e9
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Reduce the policy rate
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2021-10-08 14:30:02 +02:00 |
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Michel Breyer
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13dfaa47d0
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Recompute candidate views every policy update
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2021-10-08 14:14:15 +02:00 |
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Michel Breyer
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6ec5272394
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Minor
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2021-10-08 13:53:07 +02:00 |
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Michel Breyer
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c1710eb2da
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Move src files
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2021-10-08 10:34:38 +02:00 |
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Michel Breyer
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0fb572ee72
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Update policy name
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2021-09-14 12:43:39 +02:00 |
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Michel Breyer
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86f96e28c8
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Comment velocity controller
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2021-09-14 12:37:48 +02:00 |
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Michel Breyer
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2835bb7c87
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Update random scene generation
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2021-09-14 11:58:33 +02:00 |
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Michel Breyer
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f37046120f
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Add a second kitchen scene
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2021-09-14 11:36:28 +02:00 |
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Michel Breyer
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e055dd0486
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Add kitchen scene
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2021-09-14 11:20:58 +02:00 |
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Michel Breyer
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59ce141072
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Fix mustard scenes
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2021-09-14 10:28:31 +02:00 |
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Michel Breyer
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c8ef408252
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Reduce downsampling
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2021-09-13 23:31:52 +02:00 |
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Michel Breyer
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c3da978753
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Add min IG stopping criterion
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2021-09-13 23:15:52 +02:00 |
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Michel Breyer
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9d25cba092
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Update rviz config
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2021-09-13 18:30:58 +02:00 |
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Michel Breyer
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8e31931609
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Minor
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2021-09-13 18:29:41 +02:00 |
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Michel Breyer
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e9344a4db2
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Render grasp colors based on their quality
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2021-09-13 11:49:13 +02:00 |
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Michel Breyer
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b41d70df66
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Clear old grasp grasp markers
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2021-09-12 18:19:10 +02:00 |
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Michel Breyer
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f2a12efb0f
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Accumulate times
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2021-09-12 17:55:42 +02:00 |
|
Michel Breyer
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732effa39f
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Minor
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2021-09-12 17:11:42 +02:00 |
|
Michel Breyer
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efe6e9d1bd
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Clear best grasp in case of no predictions
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2021-09-12 16:48:31 +02:00 |
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Michel Breyer
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9f06bb27be
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Add C-space score function
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2021-09-12 16:23:10 +02:00 |
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Michel Breyer
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8ba015b1ef
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Add robot configuration to the state
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2021-09-12 14:40:17 +02:00 |
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Michel Breyer
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027a925693
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Speedup raycasting with numba
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2021-09-12 14:20:37 +02:00 |
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Michel Breyer
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54bd24ff75
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Clean up ray casting
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2021-09-12 12:02:34 +02:00 |
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Michel Breyer
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1416c25cc5
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Add more timers
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2021-09-12 11:29:58 +02:00 |
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Michel Breyer
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b9e0aab1f7
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Update view candidates
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2021-09-12 01:02:48 +02:00 |
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Michel Breyer
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c821f22523
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Use KDL for checking IKs
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2021-09-12 00:21:58 +02:00 |
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Michel Breyer
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e8dff9bf5c
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Add stable grasp prediction stopping criteria
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2021-09-11 22:31:48 +02:00 |
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Michel Breyer
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8d3f2c1a1a
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Match realsense depth topic name
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2021-09-11 21:02:14 +02:00 |
|
Michel Breyer
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65bdb5422d
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Move on a half sphere
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2021-09-11 20:49:55 +02:00 |
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Michel Breyer
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4ebd587553
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Share view computation among all policies
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2021-09-11 14:52:27 +02:00 |
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Michel Breyer
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3550b49669
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Prune nbv candidates using moveit
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2021-09-11 13:35:49 +02:00 |
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Michel Breyer
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839b6e4e1c
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Compute nbv candidates based on min depth distance
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2021-09-11 13:23:54 +02:00 |
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Michel Breyer
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0203f93d7e
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Check kinematics of the top baselines
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2021-09-11 12:00:52 +02:00 |
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Michel Breyer
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7e6eb53fa7
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Fix order of setting the arm configuration
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2021-09-11 10:55:48 +02:00 |
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Michel Breyer
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6514872b74
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Add test scenes
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2021-09-10 23:29:15 +02:00 |
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Michel Breyer
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15f120f207
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Reload scene config
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2021-09-09 21:19:30 +02:00 |
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Michel Breyer
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35bb9eaff0
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Add launch file for panda
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2021-09-09 13:26:01 +02:00 |
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Michel Breyer
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83b2c173cd
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Update colors
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2021-09-08 19:50:13 +02:00 |
|
Michel Breyer
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d955931590
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Improve bbox visualization
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2021-09-08 18:45:13 +02:00 |
|
Michel Breyer
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b781c47328
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Remove calibration error
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2021-09-08 17:32:21 +02:00 |
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Michel Breyer
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1fb2eaf2b6
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Define custom scenes via yaml files
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2021-09-08 16:50:53 +02:00 |
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Michel Breyer
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60443b0c2f
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Move initial config sampling to the scene
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2021-09-07 23:18:10 +02:00 |
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Michel Breyer
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fa4b0f07ad
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Refactor simulated scenes
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2021-09-07 22:29:42 +02:00 |
|
Michel Breyer
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ce804cf273
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Add requirements.txt
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2021-09-06 17:02:25 +02:00 |
|
Michel Breyer
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b030d14a79
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Add collision object for table
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2021-09-06 16:28:20 +02:00 |
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