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Robocup2023#325

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vamsikalagaturu wants to merge 219 commits intob-it-bots:noeticb-it-bots/mas_industrial_robotics:noeticfrom brsu-youbot:robocup2023brsu-youbot/mas_industrial_robotics:robocup2023Copy head branch name to clipboard

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Commits

Commits on Feb 17, 2023

• [mir_hardware_config][youbot-brsu-2] update camera pose

  

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Commits on Feb 22, 2023

• [mir_manipulation] Changed predefined poses for platform and shelf

  

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• [mir_planing][mir_actions]Removed code dealing with heavy objects

  

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• [mir_planing][mir_knowledge]PDDL files for demo and BMT

  

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• [mir_planing][mir_action]Changed SM for Shelf place

  

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Commits on Feb 24, 2023

• [mir_planing] Commented out code for TTS Audio

  

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• [mir_planing][mir_actions]Changed pipelines for pick and place

  

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• [mir_planing]Enabled pick and place of three objects

  

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• [mir_moveit_youbot_brsu_2] add shelf and intermediate stages

  

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Commits on Mar 24, 2023

• [mir_hardware_config] added 3 tower cameras and emergency button mounts

  

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• [mir_bringup] added launch filesles

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• [mir_bringup] fixed dual camera launch

  

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• [mir_hardware_config] added side camera | orbbec astra

  

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Commits on Mar 31, 2023

• [mir_ppt_detection] PPT initial working draft

  

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• [mir_hardware_config] Added joints for realsense camera and its 3D printed mount

  

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• [mir_hardware_config] Added 3D printed camera mounts STL files

  

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Commits on May 5, 2023

• [urdf] updated gripper urdf to correct the mount position

  

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• [mir_bringup] updated launch files to include 3 cameras

  

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• [mir_bringup] added launch file to view youbot

  

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Commits on May 12, 2023

• Added logic for changing staging area based on object

  

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Commits on May 26, 2023

• [pre_grasp_planner] add pose publisher

  

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• [mmor] added code to to handle containers

  

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• [mmor] change camera to camera front

  

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Commits on Jun 5, 2023

• [mir_planning][mir_pick_from_shelf] Implement new state for shelf pick handling

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• [mir_manipulation][mir_pregrasp_planning] Add toggle for shelf pick

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• [mir_manipulation] [mir_pregrasp_planning] minor fix | removed bool

  

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Commits on Jun 7, 2023

• [mir_gripper_controller] updated readme

  

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Commits on Jun 9, 2023

• [mir_planning]modified points for new object set and added platforms

  

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• wip: arUco marker testing for unstaging objects

  

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• [mir_ppt_detection] Updated PPT code as per tower camera configuration

  

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• [mir_object_recognition] RTT node - Initial commit

  

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• [mir_description] added intel back camera mount STL file

  

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• [mir_hardware_config] updated back camera mount STL file and angle

  

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• [mir_manipulation] updated platform_right pose values

  

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• [mir_hardware_config][urdf] updated back camera mount STL file and angle

  

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• [mir_object_recognition] YOLOv8 for rgb recognition

  

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• [mir_object_recognition] updated launch file and yolov7 for backup

  

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Commits on Jun 10, 2023

• [bug-fix] cv2 function name change

  

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• [place_obj_server_shelf] changes for shelf is uncommented

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Commits on Jun 12, 2023

• [empty space detector] modify params to place in platform less than 10cm

  

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• [scene segmentation MMOR] modify cropbox filter to pick from platform less than 10cm

  

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Commits on Jun 13, 2023

• Merge branch 'noetic' into fix/BMT_2023

  

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• [gripper control] modified relevant packages for new controller

  

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Commits on Jun 14, 2023

• [mir_hardware_config][yb2] camera name changes

  

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• [mir_perception][mir_object_recognition]add code to visualize filtered cloud

  

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• [mir_perception][mir_object_recognition] remove comments related to visualize filtered cloud

  

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Commits on Jun 15, 2023

• [mir_states] added position control for move_arm

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• [mir_states] added monitoring for velocity control

  

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Commits on Jun 17, 2023

• [mir_states] modified gripper control method

  

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• [mir_insert_cavity] updated the sm to work with top camera

  

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• [mir_planning][mir_actions] added obj_category as a dynamic configurable parameter

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• [mir_perception][mir_object_recognition] added separate confition for cavity obj_category

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• [mir_planning]mir_actions] added timeout outcome

  

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• [mir_manipulation][mir_omoveit_youtbot_brsu_2] updated new arm poses for staging

  

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• [mir_mperception][mir_object_recognition] modified code to handle dynamic obj_category models

  

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• [miractions][mir_pick_object] increased timeout

  

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• [mir_perception][mir_barrier_tape_detection] changed loop_rate for back_camera

  

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• [mir_perception][mir_barrier_tape_detection] added set CMAKE_BUILD_TYPE in CMakeLists.txt

  

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• [mir_gripper_controller] modfiied gripper feedback to only state

  

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• [mir_hardware_config][urdf] disabled middle camera

  

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• [mir_robots][mir_bringup] update back camera serial number

  

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• [miactions] added rtt_pick_server state machine

  

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Commits on Jun 19, 2023

• [empty_space_detector] change obj height above workspace to 0.0

  

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• [utils] remove print statement

  

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• [place_object] add platform hei yaml gfile in ht launch file

  

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• [place obj client] add platform parameter to get height value

  

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• [place obj server] add state to check for safe pose before for default drop

  

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• [buf-fix] add a check for velocity is of arm

  

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• [empty place] bug fix in counter

  

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Commits on Jun 20, 2023

• [object_rec] remove excessive info messages

  

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Commits on Jun 21, 2023

• [mir_perception][mir_ppt_detection] old code, just file permission change

  

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• [mir_perception][mir_rtt_detection] created a new package for RTT

  

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• [mir_planning][mir_actions] enable RTT server

  

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• [mir_planning][mir_actions] new package for RTT in mir_actions

  

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• [mir_planning][mir_actions] disabled moveit-based arm motion and going with position control

  

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• [mir_planning][mir_planning_bringup] added back camera and be_safe arg for barrier tape

  

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• [mir_planning][mir_planning_bringup] added RTT detection launch file

  

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Commits on Jun 23, 2023

• [mir_object_recognition] [RTT node] Initial working draft

  

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• [mir_rtt_detection] [RTT node] - Working draft with pointcloud data

  

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Commits on Jun 24, 2023

• [mir_manipulation][mir_pregrasp_planning] modified the pitch ranges for shelf pick to pick from slightly towards top

  

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• [mir_planning]Increased time limit to wait for plan

  

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• [mir_planning]Added demo problem file with containers

  

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• [mir_manipulation]Removed disabled collisions for old links

  

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• [mir_planning]Added large object fact in atwork commander client

  

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• [mir_planning]Added pick from rotating table to planning

  

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• [mir_planning][mir_actions]Added gripper control and fixed dbc for shelf pick

  

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• [mir_rtt_pick_object] [RTT server] Updated code for arm to go to pick position and wide gripper opening

  

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• [mir_rtt_detection] [RTT node] Optimised code for pointcloud conversion and future timestamp estimation

  

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• [mir_perception][mir_object_recognition] false verbose for inference

  

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• [cavity_place] add wiggle arm feature

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Commits on Jun 26, 2023

• [mir_planning]Changed the next action information displayed

  

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• [mir_planning]Added recovery to perceive failure

  

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• [mir_planning][mir_actions] added two dynamic configuration for no sampstates ling in pregrasp planner

  

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• [mir_erception][mir_object_recognition] removed container as a separate model

  

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• [mir_perception][mir_object_recognition] update object height above workspace

  

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• [mir_lanning][mir_actions][mir_perceive_location] added as state for setting perception recognition model

  

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• [mir_lanning][mir_actions][mir_place_object] added a state to select two shelf poses

  

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• [mir_perception][mir_object_recognition] added separate filter condition for cavity

  

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Commits on Jun 27, 2023

• [mir_manipulation] [mir_moveit_youbot_brsu_2] increased scaling factor for velocity and acc

  

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• [mir_rtt_detection] [rtt node] changed future predictions and condition for round objects

  

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• [mir_rtt_pick_object] [rtt server] Draft of working server

  

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Commits on Jun 28, 2023

• [mir_rtt_detection] [rtt node] fixed a small bug while sending future timestamps

  

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• [mir_rtt_pick_object] [rtt server] Changes to server work for multiple objects

  

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Commits on Jun 30, 2023

• [mir_pick_from_shelf][mir_inser_object][mir_states]

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• [pddl] added plan for finals

  

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• [mir_rtt_detection] [rtt node] Added pose estimation based on yaw value

  

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• [mir_rtt_pick_object] [rtt server] Added timeout and fixed small bugs

  

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• [mir_manipulation]pmir_moveit_youbot_brsu_2] added two new poses for shelf place

  

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• [mir_perception][mir_object_recognition] removed extra result publishing result_list

  

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• [mir_pactions][mir_insert_cavity] added comments

  

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• [mir_actions][mir_pick_objects] added set_perception params state for not sampling poses

  

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• [mir_actions][mir_pick_objects] added drag and pick (not tested)

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• [mir_planning][mir_knowledge]domain.pddl, after place set the location as not perceived

  

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• [mir_planning] pddl files and points--author=MannavaVivek

  

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• [mir_planning][mir_planning_bringup] commented aruco detection

  

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• [mir_scenario][mir_states] passing extra argument for setting perception model category

  

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• [mir_actions] basics changes

  

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• [mir_perception][mir_object_recognition] added height of floor parameter to fix object height to a particular workstation

  

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• [mir_perception][mir_object_recognition] added height of floor parameter to fix object height to a particular workstation

  

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• [mir_percetion][mir_perception_utils] CAVITY: changed the Z value for points projection

  

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• [mir_planning] added pick_from_tt_action cpp file in CMakeLists

  

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• [mir_manipulation][mir_gripper_controller] print the available ports on the PC

  

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• [insert_cavity] add wiggling function to ppt

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• [place_obj_server] change pose priority

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• [empty space] modify parameters for optimized placing

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• [mir_rtt_detection] [rtt node] Getting yaw value from rgb image instead of pointcloud

  

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• [mir_rtt_pick_object] [rtt server] Changed a emipirical value for pick

  

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• [mir_knowledge] [pddl] changed pddl file for finals

  

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• [shelf] fix base movement for grasping

  

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• [manipulation states] bug fix

  

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• [laser dist] increase laser distance threshold for left and right

  

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• [pddl problem generator] fix finding of source locations for a given goal

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• Merge pull request #4 from sthoduka/fix/BMT_2023

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• [place_obj_server] change final joint pose to pre_place from barrier_tape

  

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• [insert cavity server] linting

  

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• [srdf] updated shelf place joint positions

  

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• [mir_actions] updated shelf pick server to retract without dragging

  

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• [mir_actions] updated pick server to verify grasp and drop object if not

  

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• [camera calibration] updated camera calibration parameters

  

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• [mir_planning][mir_planner_executor]Removed perceived knowledge bug after placing

  

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• [mir_planning]Fixed incorrect command in docs

  

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• [mir_planning][mir_atwork_commander_client]Bug Fix-incorrect range for cavity placement

  

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• [atwork_commander_client] add advanced object parsing and include tt in launch file

  

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• [shelf] move_base to the shelf before placing

  

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• [srdf] updated platform_middle joint positions

  

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• [mmor] add shapes for new objects

  

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• [mmor] fix poses for containers, new flat objects, screwdriver

  

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• [mir_actions] updated the arm pose for move_base and pre_perceive

  

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• [mir_actions] updated retract and pick pose for shelf picking

  

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• [mir_actions] added retries for unstage object server

  

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• [mir_actions] bug fix for state pick object sm ending

  

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• [mir_states] bug fix for object_name in grasp verification

  

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• [mir_planning] fix for insertion failure replanning

  

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• [mir_planning] slect objects that are already on the robot when selecting goals

  

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• [mir_actions] bug fix for object_name in insert object server

  

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• [mir_robots] updated the robot footprint for yb2

  

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• [urdf] camera calib; object was being grasped too far in front

  

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• [mmor] add option to use fixed workspace heights; disabled by default

  

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• [srdf] adjust place poses for 10 cm workstations

  

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• [mmor] bolt pose closer to the middle

  

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• [move base] use moveit for moving to safe pose

  

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• [pick] if grasp failure - overall failed

  

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• [unstage] move to platform middle pre after unstage

  

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• [srdf] update 10cm place poses to be within manipulation zone

  

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• [empty space] reduce size of cropbox filter to within manipulation zone

  

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• [place object] misc improvements; move arm up after placing, fix retry counts for empty space det, open gripper less, switch between empty space and prerecorded poses better

  

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• [planning bringup] add data logger to planning bringup launch file

  

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• [planner exec] pick failure - first remove perceived, then remove at location for retries before removing goal

  

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• [pddl] update test task pddl

  

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• fix a stupid bug that cost us 200 points

  

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• [srdf] update place poses for 0,5,15 only first 4 poses

  

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• [mir_states] added allenkey to skip grasp verification

  

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• [place server] default pose state tested and updated

  

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• [insert cavity] recognising -00 objects also

  

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• [mir_perceive_anything] New package for coworker assembly test - Technical challenge for robocup-23

  

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• [coworker test] added a simple pick server for coworker assembly test

  

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• [mir_actions] modified action states to increase timeout and work for coworker test

  

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• [mir_coworker_assembly] renamed the package name to mir_coworker_assembly

  

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• [mir_coworker_assembly] renamed the package mir_pick_anything to mir_coworker_assembly

  

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• [mir_object_recognition] hand gesture and assembly object detection node for technical challenge

  

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• modify cropbox for robocup 2023

  

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• [place-shelf] add DB to move close to workspace to place and add yaw for empty place pose

  

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• [ppt] move arm up

  

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• [barrier tape] params modified

  

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• [mmor] adjust poses for cavity

  

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• [insert] open gripper narrow for insertion

  

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• [mmor] adjust height above workspace

  

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• [save debug]

  

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• move arm to safe place

  

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• time out changed

  

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• split

  

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• RT to TT

  

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• decrease height for container place

  

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• [planner executor/insert] update the 'stored' predicate correctly

  

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• [rtt] print when event received

  

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• [planner executor/rtt] increase timeout for RTT

  

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• [rgb recog] reduce confidence threshold

  

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• [mmor] save raw image even if no objects

  

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• [mir_states] disabled grasp verification for drill, allenkey and wrench

  

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Commits on Jul 21, 2023

• [mir_object_recognition] pass model names using rosparam in launch file

  

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• [mir_rtt_detection] code cleanup

  

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• [mir_rtt_detection] removed unnecessary files

  

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• [mir_rtt_pick_object] code cleanup

  

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• [mmor] removed duplicate files

  

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• [mir_rtt_detection] Changed perception model for oriented bounding box (OBB) and added README file

  

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• small configuration changes

  

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• [mir_object_recognition] Changed objects model to Oriented Bounding Box and cavity model to segmentation masks for better detection

  

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Commits on Apr 12, 2024

• [MIR_EMPTY_SPACE_DETECTION] update params

  

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• [MIR_KNOWLEDGE] add finals pddl files for testing

  

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• [MIR_PLANNING_CORE] add finals2 pddl

  

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• [MIR_RTT_DETECTION] update object pose position

  

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• updated camera filters and atwork comm client to be compatible with latest msg

  

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• GO24 - day 2 changes

  

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Commits on Apr 19, 2024

• GO24 - day 3 - pre ATT1

  

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• GO24 - pre ATT1 - grasp verification modified

  

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• GO24 - DAY 3 - post ATT1 - adjusting wrench pose

  

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• GO24 - Day3 - End commit

  

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Commits on Apr 20, 2024

• GO24 - Finals - Commit

  

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• [mir_place_object] add release gripper during object place

  

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