updated demo video: include interaction forces prediction

Author: rlnav

Diff for: config/rviz/monoforce.rviz

@@ -208,7 +208,7 @@ Visualization Manager:
       Color: 46; 52; 54
       Color Transformer: FlatColor
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -223,7 +223,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: false
+      Value: true
     - Class: rviz/Image
       Enabled: false
       Image Topic: /camera_front/image
@@ -602,25 +602,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 10
+      Distance: 9.022716522216797
       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
-        Y: 0
-        Z: 0
+        X: -0.5085874795913696
+        Y: 0.149113729596138
+        Z: -0.7754947543144226
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 1
-      Pitch: 0.7853981852531433
+      Pitch: 0.6403982043266296
       Target Frame: <Fixed Frame>
-      Yaw: 0.7853981852531433
+      Yaw: 3.4503984451293945
     Saved:
       - Class: rviz/Orbit
         Distance: 10
@@ -652,9 +652,9 @@ Window Geometry:
   Camera Right:
     collapsed: false
   Displays:
-    collapsed: false
+    collapsed: true
   Height: 1136
-  Hide Left Dock: false
+  Hide Left Dock: true
   Hide Right Dock: false
   Image Front:
     collapsed: false
@@ -664,15 +664,15 @@ Window Geometry:
     collapsed: false
   Image Right:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: false
+    collapsed: true
   Width: 1848
   X: 72
   Y: 27

Diff for: docs/imgs/monoforce.gif

@@ -100,7 +100,7 @@ def __init__(self,
                  Kp_theta=50.0,  # heading proportional gain
                  Kp_yaw=1.0,  # yaw (at a pose) proportional gain
                  learn_height=True,
-                 robot_model='tradr'
+                 robot_model='marv'
                  ):
         super().__init__()
         self.device = device
@@ -146,7 +146,7 @@ def __init__(self,
         self.Kp_yaw = nn.Parameter(torch.tensor([Kp_yaw], device=self.device))
 
     def create_robot_model(self, model='husky'):
-        if model == 'tradr':
+        if model == 'marv':
             size = (1.0, 0.6)
             s_x, s_y = size
             n_pts = 10