quick fix updating moma_repos & rviz for demo

ethz-asl · Sep 26, 2024 · f341dc7 · f341dc7
1 parent 76850ac
commit f341dc7
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Showing 2 changed files with 72 additions and 18 deletions.
diff --git 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
@@ -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: <Fixed 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
@@ -322,20 +335,53 @@ 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
       Visual Enabled: true
     - 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
@@ -570,24 +616,26 @@ 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
         roi: true
       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
@@ -626,39 +676,43 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
+
       Distance: 1.2434059381484985
+
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         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: <Fixed 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
   MotionPlanning:
     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