single-view initialized

cfg/active_grasp.rviz

@@ -7,7 +7,7 @@ Panels:
         - /TF1/Frames1
         - /Markers1/Namespaces1
       Splitter Ratio: 0.6881287693977356
-    Tree Height: 371
+    Tree Height: 222
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -25,7 +25,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: Image
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -249,42 +249,6 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Class: rviz/Image
-      Enabled: false
-      Image Topic: /camera/color/image_raw
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: ColorImage
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: false
-    - Class: rviz/Image
-      Enabled: false
-      Image Topic: /camera/depth/image_rect_raw
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: DepthImage
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: false
-    - Class: rviz/Image
-      Enabled: false
-      Image Topic: /camera/infra1/image_rect_raw
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: InfraImage
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: false
     - Class: rviz/MarkerArray
       Enabled: true
       Marker Topic: visualization_marker_array
@@ -381,6 +345,18 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: false
       Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/color/image_rect_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -409,7 +385,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.024759531021118
+      Distance: 1.5453948974609375
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -417,9 +393,9 @@ Visualization Manager:
         Value: false
       Field of View: 0.7799999713897705
       Focal Point:
-        X: 0.36431100964546204
-        Y: -0.015723222866654396
-        Z: 0.38234013319015503
+        X: 0.4194673001766205
+        Y: 0.033841054886579514
+        Z: 0.4190172851085663
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
@@ -427,7 +403,7 @@ Visualization Manager:
       Near Clip Distance: 0.009999999776482582
       Pitch: 0.4999997615814209
       Target Frame: <Fixed Frame>
-      Yaw: 5.183177471160889
+      Yaw: 5.173177242279053
     Saved:
       - Class: rviz/Orbit
         Distance: 1.2000000476837158
@@ -450,18 +426,14 @@ Visualization Manager:
         Target Frame: <Fixed Frame>
         Yaw: 1.0399999618530273
 Window Geometry:
-  ColorImage:
-    collapsed: true
-  DepthImage:
-    collapsed: false
   Displays:
-    collapsed: true
-  Height: 787
-  Hide Left Dock: true
-  Hide Right Dock: true
-  InfraImage:
     collapsed: false
-  QMainWindow State: 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
+  Height: 871
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001db0000030dfc0200000017fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d00000161000000c900fffffffa000000000100000002fb000000100044006900730070006c0061007900730100000000000001f30000015600fffffffb000000140043006f006c006f00720049006d0061006700650000000000ffffffff0000000000000000fb000000140043006f006c006f00720049006d00610067006501000001e4000001bf0000000000000000fb00000014004400650070007400680049006d006100670065000000029a000001090000000000000000fb000000140043006f006c006f00720049006d00610067006501000001d2000001920000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a004400650070007400680000000166000000b50000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001f4000001af0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c00460069006c0074006500720065006400200043006c006f00750064000000029a000001050000000000000000fb000000140043006f006c006f00720049006d006100670065010000019f000002040000000000000000fb0000000a0049006d00610067006501000001a4000001a60000001600fffffffb0000000a0049006d006100670065000000021c000000ee0000000000000000fb0000000c00430061006d00650072006100000002db000000c80000000000000000fb000000140043006f006c006f00720049006d006100670065010000019f000002040000000000000000fb0000000a0049006d006100670065010000019c000002070000000000000000fb0000000a0049006d0061006700650100000192000001b80000000000000000000000010000017b00000366fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000366000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000002fb000000140049006e0066007200610049006d00610067006502000000000000006b00000280000001e0fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056300000039fc0100000002fb0000000800540069006d00650000000000000005630000041800fffffffb0000000800540069006d006501000000000000045000000000000000000000035e0000030d00000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -470,6 +442,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1023
-  X: 1275
-  Y: 61
+  Width: 1343
+  X: 1217
+  Y: 57

cfg/active_grasp.yaml

@@ -10,8 +10,9 @@ hw:
 grasp_controller:
   base_frame_id: panda_link0
   ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065]  # offset to panda_link8
-  control_rate: 30
+  control_rate: 100
   linear_vel: 0.05
+  move_arm_time: 6
   camera:
     frame_id: camera_depth_optical_frame
     info_topic: /camera/depth/camera_info
@@ -28,7 +29,7 @@ vgn:
   qual_threshold: 0.9
 
 policy:
-  rate: 4
+  rate: 2
   window_size: 12
 
 nbv_grasp: