diff --git a/stretch_demos/rviz/grasp_object.rviz b/stretch_demos/rviz/grasp_object.rviz index 1770c34..83cef6b 100644 --- a/stretch_demos/rviz/grasp_object.rviz +++ b/stretch_demos/rviz/grasp_object.rviz @@ -3,8 +3,9 @@ Panels: Help Height: 78 Name: Displays Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 + Expanded: + - /VOI Marker1/Status1 + Splitter Ratio: 0.7617647051811218 Tree Height: 539 - Class: rviz/Selection Name: Selection @@ -527,11 +528,49 @@ Visualization Manager: Visibility: Grid: true LaserScan: true + MHI Marker: true PointCloud2: true RobotModel: true TF: true + VOI Marker: true Value: true Zoom Factor: 1 + - Class: rviz/Marker + Enabled: true + Marker Topic: /grasp_object/voi_marker + Name: VOI Marker + Namespaces: + "": true + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: MHI Marker + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /grasp_object/mhi_marker + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -560,7 +599,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 6.687999725341797 + Distance: 5.667474269866943 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -568,17 +607,17 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0 - Y: 0 - Z: 0 + X: -0.19024641811847687 + Y: -0.866672933101654 + Z: 0.26281020045280457 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.7853981852531433 + Pitch: 0.6397964358329773 Target Frame: - Yaw: 0.7853981852531433 + Yaw: 0.9854052066802979 Saved: ~ Window Geometry: Camera: @@ -588,7 +627,7 @@ Window Geometry: Height: 836 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000039f000002a6fc0200000005fb0000000c00430061006d006500720061010000003d000002a60000001600fffffffb0000000c00430061006d006500720061000000003d000002a60000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065010000000000000640000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000013f000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000156000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002eb000002a6fc0200000005fb0000000c00430061006d006500720061010000003d000002a60000001600fffffffb0000000c00430061006d006500720061000000003d000002a60000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065010000000000000640000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000001f3000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: