Dualtip ml objectives #3
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* Teleop working except for pose jog * Add some mujoco frame debugging * separates hatch and trainer, relocates trainer, removes hatch from the setup * adds bottle to the scene * Pose jog seems to work now with the updated SwitchControllers logic * Update moveit_pro run command for simulation * bottle sites added * move bottle to table edge * adds missing kinematics entry to JTC and configs, update bottle sites, updates test behavior * gripper behaviors * Add mujoco reset capabilities * Start of hw config inheritance from sim config * allow using mock hardware option for lift colums * add display instructions to readme * remove unused HW ros2_control.yaml * fix typo in config.yaml, add fake lift hw, add arm hash codes, adds missing groups to srdf * add correct moveit_pro run sim name * move table in front of robot, adds look at table waypoint, relocate bottle, update mujoco keyframe * successfull pick * readme link fix * Add more hw startup details * pre-commit * Remove commented out references to removed controllers --------- Co-authored-by: sinaaghli <[email protected]> Co-authored-by: Breelyn Styler <[email protected]> (cherry picked from commit b5d58a3)
…mple objectives, and added new objectives and waypoints to perform re-orient and multi-tip lifting (cherry picked from commit f9ef178)
(cherry picked from commit b96ad86)
(cherry picked from commit f759a4f)
(cherry picked from commit 89d23e2)
nbbrooks
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nbbrooks
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Do all of the _hw objectives need to live in _hw ? Any reason they could not be in _sim?
Can you rename the Objectives like "GetLeftRightPickPoseFromBottlePose" to be "Get Left Right Pick Pose From Bottle Pose" for readability?
There are some device names that are hardcoded in the behavior atm, I was mostly focusing to get things running for the friday deadline! but as you mentioned we should define those device names as behavior IO and then move the generic one into the SIM, this is in my to do list after I finish detecting the rack with QR code! |
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Merging ML recognition, grasping and dualtip flipping action with @bkanator !