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cusotm scene test passed

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This commit is contained in:
0nhc
2024-10-19 13:57:56 -05:00
parent 5f659f6f1e
commit 28f67382c7
6 changed files with 35 additions and 17 deletions
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12
cfg/active_grasp.rviz
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@@ -7,7 +7,7 @@ Panels:
- /TF1/Frames1
- /Markers1/Namespaces1
Splitter Ratio: 0.6881287693977356
Tree Height: 104
Tree Height: 181
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -428,12 +428,12 @@ Visualization Manager:
Window Geometry:
Displays:
collapsed: false
Height: 612
Height: 778
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001db0000020afc0200000017fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d000000eb000000c900fffffffa000000000100000002fb000000100044006900730070006c0061007900730100000000000001f30000015600fffffffb000000140043006f006c006f00720049006d0061006700650000000000ffffffff0000000000000000fb000000140043006f006c006f00720049006d00610067006501000001e4000001bf0000000000000000fb00000014004400650070007400680049006d006100670065000000029a000001090000000000000000fb000000140043006f006c006f00720049006d00610067006501000001d2000001920000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a004400650070007400680000000166000000b50000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001f4000001af0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c00460069006c0074006500720065006400200043006c006f00750064000000029a000001050000000000000000fb000000140043006f006c006f00720049006d006100670065010000019f000002040000000000000000fb0000000a0049006d006100670065010000012e000001190000001600fffffffb0000000a0049006d006100670065000000021c000000ee0000000000000000fb0000000c00430061006d00650072006100000002db000000c80000000000000000fb000000140043006f006c006f00720049006d006100670065010000019f000002040000000000000000fb0000000a0049006d006100670065010000019c000002070000000000000000fb0000000a0049006d0061006700650100000192000001b80000000000000000000000010000017b00000366fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000366000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000002fb000000140049006e0066007200610049006d00610067006502000000000000006b00000280000001e0fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056300000039fc0100000002fb0000000800540069006d00650000000000000005630000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000002fb0000020a00000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 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
Selection:
collapsed: false
Time:
@@ -442,6 +442,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1244
X: 1184
Y: 195
Width: 1095
X: 1232
Y: 125

4
cfg/active_grasp.yaml
View File

@@ -1,8 +1,8 @@
bt_sim:
gui: True
gripper_force: 10
scene: random
# scene: $(find active_grasp)/cfg/sim/challenging_scene_1.yaml
# scene: random
scene: $(find active_grasp)/cfg/sim/challenging_scene_1.yaml
hw:
roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt

16
cfg/sim/challenging_scene_1.yaml
View File

@@ -1,11 +1,15 @@
center: [0.5, 0.2, 0.25]
center: [0.5, 0.0, 0.25]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: ap_dataset/objects/apple
xyz: [0.0, 0.0, 0.2]
xyz: [0.1, 0.0, 0.5]
rpy: [90, 0, 0]
scale: 0.001
- object_id: ap_dataset/occluders/flower_pot_021
xyz: [0.0, 0.0, 0.2]
scale: 1
# - object_id: ycb/006_mustard_bottle
# xyz: [0.0, 0.0, 0.2]
# rpy: [0, 0, 0]
# scale: 1
- object_id: ap_dataset/occluders/blender_box_001
xyz: [0.0, 0.0, 0.15]
rpy: [90, 0, 0]
scale: 0.001
scale: 1