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luceharrisnikhileshalatur
luceharris
authored and
nikhileshalatur
committed
quick fix updating moma_repos & rviz for demo
1 parent 76850ac commit f341dc7

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2 files changed

+72
-18
lines changed

2 files changed

+72
-18
lines changed

‎docker/scripts/moma_demo.repos

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,4 +10,4 @@ repositories:
1010
moma:
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type: git
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url: https://github.com/ethz-asl/moma.git
13-
version: demo
13+
version: 76850ac35235f97afb130746586d3047c37a81e0

‎moma_demos/grasp_demo/config/grasp_demo.rviz

Lines changed: 71 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -4,8 +4,10 @@ Panels:
44
Name: Displays
55
Property Tree Widget:
66
Expanded:
7+
78
- /MarkerArray1/Namespaces1
89
Splitter Ratio: 0.48490944504737854
10+
911
Tree Height: 808
1012
- Class: rviz/Selection
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Name: Selection
@@ -24,7 +26,7 @@ Panels:
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- Class: rviz/Time
2527
Name: Time
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SyncMode: 0
27-
SyncSource: RSCloud
29+
SyncSource: SceneCloud
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- Class: control_gui/ButtonPanel
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Name: Mission Control
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Preferences:
@@ -53,7 +55,9 @@ Visualization Manager:
5355
Reference Frame: <Fixed Frame>
5456
Value: true
5557
- Class: rviz/TF
58+
5659
Enabled: true
60+
5761
Filter (blacklist): ""
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Filter (whitelist): ""
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Frame Timeout: 15
@@ -228,6 +232,7 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
235+
Value: true
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panda_hand_tcp:
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Alpha: 1
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Show Axes: false
@@ -246,6 +251,7 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
254+
Value: true
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panda_link1:
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Alpha: 1
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Show Axes: false
@@ -255,6 +261,7 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
264+
Value: true
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panda_link2:
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Alpha: 1
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Show Axes: false
@@ -264,6 +271,7 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
274+
Value: true
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panda_link3:
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Alpha: 1
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Show Axes: false
@@ -273,6 +281,7 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link4:
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Alpha: 1
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Show Axes: false
@@ -282,6 +291,7 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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panda_link5:
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Alpha: 1
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Show Axes: false
@@ -291,6 +301,7 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
304+
Value: true
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panda_link6:
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Alpha: 1
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Show Axes: false
@@ -300,6 +311,7 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
314+
Value: true
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panda_link7:
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Alpha: 1
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Show Axes: false
@@ -309,6 +321,7 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
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Show Trail: false
324+
Value: true
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panda_link8:
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Alpha: 1
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Show Axes: false
@@ -322,20 +335,53 @@ Visualization Manager:
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Alpha: 1
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Show Axes: false
324337
Show Trail: false
338+
wrist_camera_color_frame:
339+
Alpha: 1
340+
Show Axes: false
341+
Show Trail: false
342+
wrist_camera_color_optical_frame:
343+
Alpha: 1
344+
Show Axes: false
345+
Show Trail: false
346+
wrist_camera_depth_frame:
347+
Alpha: 1
348+
Show Axes: false
349+
Show Trail: false
350+
wrist_camera_depth_optical_frame:
351+
Alpha: 1
352+
Show Axes: false
353+
Show Trail: false
354+
wrist_camera_infra1_frame:
355+
Alpha: 1
356+
Show Axes: false
357+
Show Trail: false
358+
wrist_camera_infra1_optical_frame:
359+
Alpha: 1
360+
Show Axes: false
361+
Show Trail: false
362+
wrist_camera_infra2_frame:
363+
Alpha: 1
364+
Show Axes: false
365+
Show Trail: false
366+
wrist_camera_infra2_optical_frame:
367+
Alpha: 1
368+
Show Axes: false
369+
Show Trail: false
325370
wrist_camera_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
329374
Value: true
330375
Name: RobotModel
331-
Robot Description: /manipulator/robot_description
376+
Robot Description: /robot_description
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TF Prefix: ""
333378
Update Interval: 0
334379
Value: true
335380
Visual Enabled: true
336381
- Acceleration_Scaling_Factor: 0.1
337382
Class: moveit_rviz_plugin/MotionPlanning
338383
Enabled: false
384+
JointsTab_Use_Radians: true
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Move Group Namespace: ""
340386
MoveIt_Allow_Approximate_IK: false
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MoveIt_Allow_External_Program: false
@@ -471,8 +517,8 @@ Visualization Manager:
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- Alpha: 1
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Autocompute Intensity Bounds: true
473519
Autocompute Value Bounds:
474-
Max Value: -9999
475-
Min Value: 9999
520+
Max Value: 0.2884718179702759
521+
Min Value: 0.2338208258152008
476522
Value: true
477523
Axis: Z
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Channel Name: intensity
@@ -508,7 +554,7 @@ Visualization Manager:
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
511-
Enabled: false
557+
Enabled: true
512558
Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 1
@@ -521,11 +567,11 @@ Visualization Manager:
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Size (Pixels): 3
522568
Size (m): 0.007499999832361937
523569
Style: Boxes
524-
Topic: /manipulator/map_cloud
570+
Topic: /map_cloud
525571
Unreliable: false
526572
Use Fixed Frame: true
527573
Use rainbow: true
528-
Value: false
574+
Value: true
529575
- Alpha: 1
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Autocompute Intensity Bounds: false
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Autocompute Value Bounds:
@@ -551,7 +597,7 @@ Visualization Manager:
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Size (Pixels): 3
552598
Size (m): 0.007499999832361937
553599
Style: Boxes
554-
Topic: /manipulator/quality
600+
Topic: /quality
555601
Unreliable: false
556602
Use Fixed Frame: true
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Use rainbow: true
@@ -570,24 +616,26 @@ Visualization Manager:
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Shaft Length: 0.23000000417232513
571617
Shaft Radius: 0.009999999776482582
572618
Shape: Axes
573-
Topic: /manipulator/grasp_poses
619+
Topic: /grasp_poses
574620
Unreliable: false
575621
Value: true
576622
- Class: rviz/MarkerArray
577623
Enabled: true
578-
Marker Topic: /manipulator/visualization_marker_array
624+
Marker Topic: /visualization_marker_array
579625
Name: MarkerArray
580626
Namespaces:
581627
grasp: true
582628
roi: true
583629
Queue Size: 100
584630
Value: true
585631
- Alpha: 1
632+
586633
Axes Length: 0.05000000074505806
587634
Axes Radius: 0.009999999776482582
588635
Class: rviz/Pose
589636
Color: 255; 25; 0
590637
Enabled: true
638+
591639
Head Length: 0.30000001192092896
592640
Head Radius: 0.10000000149011612
593641
Name: Pose
@@ -597,7 +645,9 @@ Visualization Manager:
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Shape: Axes
598646
Topic: /target
599647
Unreliable: false
648+
600649
Value: true
650+
601651
Enabled: true
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Global Options:
603653
Background Color: 48; 48; 48
@@ -626,39 +676,43 @@ Visualization Manager:
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Views:
627677
Current:
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Class: rviz/Orbit
679+
629680
Distance: 1.2434059381484985
681+
630682
Enable Stereo Rendering:
631683
Stereo Eye Separation: 0.05999999865889549
632684
Stereo Focal Distance: 1
633685
Swap Stereo Eyes: false
634686
Value: false
635687
Field of View: 0.7853981852531433
636688
Focal Point:
637-
X: 0.6347542405128479
638-
Y: 0.1345246136188507
639-
Z: 0.12484816461801529
689+
X: 0.24578146636486053
690+
Y: 0.19255565106868744
691+
Z: 0.37358254194259644
640692
Focal Shape Fixed Size: true
641693
Focal Shape Size: 0.05000000074505806
642694
Invert Z Axis: false
643695
Name: Current View
644696
Near Clip Distance: 0.009999999776482582
697+
645698
Pitch: -0.06520330905914307
646699
Target Frame: <Fixed Frame>
647700
Yaw: 5.464844703674316
701+
648702
Saved: ~
649703
Window Geometry:
650704
Displays:
651-
collapsed: true
705+
collapsed: false
652706
Height: 1016
653-
Hide Left Dock: true
707+
Hide Left Dock: false
654708
Hide Right Dock: true
655709
Mission Control:
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collapsed: false
657711
MotionPlanning:
658712
collapsed: false
659713
MotionPlanning - Trajectory Slider:
660714
collapsed: false
661-
QMainWindow State: 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
715+
QMainWindow State: 000000ff00000000fd0000000400000000000001f300000363fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000363000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000216000001880000016900fffffffb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001e004d0069007300730069006f006e00200043006f006e00740072006f006c00000002de0000008e0000007900fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000191000001880000000000000000000000010000010f00000210fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000210000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074c00000039fc0100000002fb0000000800540069006d006501000000000000074c0000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000005530000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
662716
Selection:
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collapsed: false
664718
Time:
@@ -669,4 +723,4 @@ Window Geometry:
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collapsed: false
670724
Width: 1868
671725
X: 52
672-
Y: 27
726+
Y: 27

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