Michel Breyer
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b1eef0d6ef
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Option to add random noise to object locations
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2021-10-27 14:29:18 +02:00 |
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Michel Breyer
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cc42ff66e8
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Add collision object for the support plane
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2021-10-25 11:09:13 +02:00 |
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Michel Breyer
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a7f05f9354
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Switch to RRTStar
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2021-10-25 10:47:01 +02:00 |
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Michel Breyer
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305654a200
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Minor formatting
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2021-10-13 17:39:28 +02:00 |
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Michel Breyer
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787dbb0e68
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Add evaluation script
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2021-10-13 15:44:45 +02:00 |
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Michel Breyer
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1532d66b6e
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Adjust pregrasp pose
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2021-10-13 15:44:22 +02:00 |
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Michel Breyer
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c6126d5a3f
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Make logdir
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2021-10-13 15:44:06 +02:00 |
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Michel Breyer
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50d18f349b
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Update rviz config
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2021-10-13 14:56:13 +02:00 |
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Michel Breyer
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05efe83c50
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Simplify file structure
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2021-10-13 14:43:26 +02:00 |
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Michel Breyer
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30ab57e7d2
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Increase planning time
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2021-10-13 14:21:50 +02:00 |
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Michel Breyer
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51c4f8861a
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Minor
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2021-10-13 14:04:01 +02:00 |
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Michel Breyer
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3cc4fb159b
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Approach grasp and lift with Cartesian planner
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2021-10-13 13:55:18 +02:00 |
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Michel Breyer
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8a1b8130dc
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Change MoveIt planner
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2021-10-13 11:59:10 +02:00 |
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Michel Breyer
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e5da49d0a6
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Read gripper force from the config file
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2021-10-13 11:19:47 +02:00 |
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Michel Breyer
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00fb19f5eb
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Grasp using velocity control
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2021-10-12 19:42:37 +02:00 |
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Michel Breyer
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505b768cce
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Minor
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2021-10-12 17:57:09 +02:00 |
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Michel Breyer
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a4e170966a
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Attach the target collision object before grasping
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2021-10-12 17:42:48 +02:00 |
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Michel Breyer
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5815a2a66c
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Create separate collision objects
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2021-10-12 17:17:13 +02:00 |
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Michel Breyer
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b91ced08d9
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Create collision objects from the reconstruction
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2021-10-11 22:44:46 +02:00 |
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Michel Breyer
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ae92e1bb99
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Fix
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2021-10-11 14:51:42 +02:00 |
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Michel Breyer
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17b9347976
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Select local_maxima instead of grid
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2021-10-11 14:31:31 +02:00 |
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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 |
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Michel Breyer
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732effa39f
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Minor
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2021-09-12 17:11:42 +02:00 |
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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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