WIP: Stow/Pick decoupling #30
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Add max recording length Remove rsyncing Update storage path
Drop some prints, replace others with rospy logging Tolerate failure to get vacuum status Connection drops happen intermittently, but only after hours of use
These had been living untracked in a folder that was only in perception copies of workspaces. This does not address packaging issues; it's assumed that the correct model files and packages are at the right place in workspace_root/src Co-authored-by: Nick Walker <[email protected]>
Blow off sooner after tote approach to save noise Do grasp pose offset inside human pick handler Drop unused helper states from common
Adding folders for 2nd pod to save multiple frames. 3. Changing the camera calibration coordinate input by removing tehhard coded values. 3. Added visulaization for mask, labeled_masks and rgb image. 4. Changed the root path for saving the images and masks. Co-authored-by: Markus Grotz <[email protected]> Co-authored-by: Michael Murray <[email protected]>"
2. Adding block of code to remove None tpe error for previous mask in the update section Co-authored-by: Sanjar Normuradov <[email protected]>
…int limits and jacbian for reachability. 2. Jack added constraints on joint limits for retracting back, for now as it is not completed, it is commednted out. Co-authored-by: Jack Lowry <[email protected]>
Want them to be easily installable/ros-runnable Rename folder to match package name
People can revert this commit and revitalize them if needed Clearing them to clarify what parts of the system are actually in use
Don't try to move to a joint config if we're already very close to it Add necessary Tahoma APIs to furnish joint state information Fix some bugs introduced during refactoring Remove pick status publishing while we find a nicer way to implement it
Written by Markus some time ago and copied around between workspaces Co-authored-by: Markus Grotz <[email protected]>
Store camera info
Have been testing with the latest version
Move new calibration scripts to scripts diry
Allow retry on perception failure
Not packaged in a way that's usable, so will leave to future changes to integrate it
Web interface relies on this being set
Silences URDF load_yaml warnings
Force users to specify which pod they're using when launching the robot
Pass arguments through correctly and drop dead launches
Move script to live near the pod transform launch file Track RViz config useful for checking alignment
It doesn't appear necessary to have this run in another process
Factor out bin management Prepare to use aurmr_dataset for filesystem database layer Use UOIS in-process
Recenter the implementation on a dataset object which logs snapshops and keeps inventory records Add dummy perception model Paste diff pod model back in Replumb bin_bounds data out to the outter edge of the node
Useful for stepping through perception code Outline commandline stow state
Load into ros parameter server
Allows multiple actions to be taken on a bin at the same time
Takes barcodes from stdin, makes sounds to let user know whether they can scan. Photo capture is triggered manually by scanning a special barcode No connection to the database, and no GCU calculation in this version
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This rolls together previous merges with current work on decoupling the stow process from the pick process.
Relies on latest changes to
aurmr_dataset. The dataset API has changed a bit further, so the dummy perception pipeline needs to be updated to use theDatasetAppenderand to provide the correct camera configuration metadata.I have not made the changes to connect the real perception system to the dataset API.