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WIP: Stow/Pick decoupling#30

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nickswalker wants to merge 43 commits intomainau-rmr/aurmr_tahoma:mainfrom nick/pod-model-refactorau-rmr/aurmr_tahoma:nick/pod-model-refactorCopy head branch name to clipboard

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Commits

Commits on Sep 28, 2023

• Add WIP logging node

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• Add configuration for stand usb webcam

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• Add ability to auto copy logged bags to remote machine

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• Update USB cam configuration

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Commits on Sep 29, 2023

• Add more topics

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Commits on Nov 30, 2023

• Add usb_cam third-party source dependency

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Commits on Dec 1, 2023

• Track topic throttling configuration

  

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• Update topics

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• Update usb camera video parameters

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• Clean up pick/stow queueing code

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• Migrate clustering demo services

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• Refactor pick retry states

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Commits on Dec 5, 2023

• 1. Integrating new calibration module in the segmentation.py file. 2.

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• 1. logging image for full pod

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• 1. Adding Manipulability Analysis(from KIT) to add penelization on joint limits and jacbian for reachability.

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• Move vacuum control scripts into a package

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• Drop rotting or unused states and demo scripts

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• Make new file for collision/planning scene management

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• Track state machine testing cli

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• Add failover recording location

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• Merge remote-tracking branch 'origin/nick/logging' into evaluation-dec-23

  

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• Bump UR ROS driver repo

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Commits on Dec 6, 2023

• Fix retry state issues introduced during refactoring

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Commits on Dec 7, 2023

• Track manual pod calibration script

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Commits on Dec 9, 2023

• Don't continue if moving to pre-grasp fails

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• Drop grasp normal code path

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• Add ASIN to CLI tester

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• Don't exit when the robot isn't present

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Commits on Dec 10, 2023

• Bump UR ros wrappers

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• Drop pod defaults

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• Clean up aurmr_perception launch

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• Tidy up pod location calibration

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• Dump pod bin location calibration to yaml

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• Make UOIS importable, usable without RPC

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• [WIP] Refactor SegNet based pod-model

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• Refactor pod model interface

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• Factor out task queue code

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• Add state machine with complete substitution of human

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Commits on Jan 19, 2024

• Store bin bounds in yaml

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• Extend perception API with a multi-action service call

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• Add command-line stow state machine

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Commits on Mar 25, 2024

• [WIP] Update for new aurmr_dataset API

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• Add launch file for pod calibration

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