reverting changes to allow interruption during pick

add done button back

intel rs and depth window minimization

Author: tusharsangam

spot_rl_experiments/spot_rl/ros_img_vis.py

@@ -332,7 +332,10 @@ def generate_composite(self):
             img = np.concatenate((img, display_img), axis=0)
 
             # Add human_type_msg button for human intervention
-            human_done_button = {"upper_left": (4850, 800), "bottom_right": (4950, 900)}
+            human_done_button = {
+                "upper_left": (2050, 2300),
+                "bottom_right": (2050 + 100, 2300 + 100),
+            }
 
             def onMouse(event, x, y, flags, param):
                 if event == cv2.EVENT_LBUTTONDOWN:

spot_rl_experiments/spot_rl/utils/img_publishers.py

@@ -124,7 +124,13 @@ def _publish(self):
         image_responses = self.spot.get_image_responses(
             self.sources[:2], quality=100, await_the_resp=False
         )
-        hand_image_responses = self.spot.get_hand_image()
+
+        try:
+            hand_image_responses = self.spot.get_hand_image()
+        except Exception as e:
+            print(f"Intel RS issue due to {e}, use gripper image")
+            hand_image_responses = self.spot.get_hand_image(force_get_gripper=True)
+
         image_responses = image_responses.result()
         image_responses.extend(hand_image_responses)
 
@@ -544,7 +550,7 @@ def convert_2d_pixel_to_3d(
         pixel_uv,
         depth_raw,
         camera_intrinsics,
-        patch_size=40,
+        patch_size=20,
         default_z: float = None,
         return_z=False,
     ):