Branch for new semantic place skill #197
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* add tracking * refine * tracking working * polish * 5 * polish * find the path automatically * add readme * enable tracking for mobile gaze * fix bug * increase the confidnece bound * reset tracking * Open close tracking with sam2 fremont finetuning (#186) * finetuning fixes * better grasp detection * fix bug * polish * add cab * fix cab --------- Co-authored-by: Tushar Sangam <[email protected]> * polish * polish the text --------- Co-authored-by: Jimmy Yang <[email protected]> Co-authored-by: Tushar Sangam <[email protected]>
Co-authored-by: Jimmy Yang <[email protected]>
* load the newly trained checkpoints * port semantic pick * tidy * appraching * update checkpoint and make the MAX_JOINT_MOVEMENT_SEMANTIC_GAZE large and it works well * pose estimation (#166) * load the newly trained checkpoints port semantic pick tidy appraching update checkpoint and make the MAX_JOINT_MOVEMENT_SEMANTIC_GAZE large and it works well smooth arm actions pose estimation pose correction with discretization Orientation Correction Working pose correction finetuning adding more grasp orientation & object correction pose estimation with object facing camera creating new pick api force control for object grasping PR ready to pr PR ready changes Starting pose estimation service from spot-sim2real PR hot fixes submodule init instruction update add todo and fix pre-commit issue PR review 1 PR fixes 2 fix precommit fix precommit v2 * add trest srcipt for nn basew * PR review final --------- Co-authored-by: Jimmy Yang <[email protected]> first commit force control first commit parameter adjustment Generalization to grasp some changes remaining arm command follow pose estimation fix for grasping video shoot body follow fix some changes caliberation fix Resolving calibartaion error with minimal changes gitignore backup benchmark files ros_communications ros_communications reducing file size Bug fixes n support for Float32MultiArray update make it work find human action tool is in rospy node add nav target update the nav skill execution polish detected translation polish the location in 3D improve object detection use local place skills and change the nav threshold add spot benchmark fix suc condition for dynamic yaw round handle the case for not getting spot transformation add exploration fix split bug add semantic place improve print polish detection make exploration works fix the bug of getting none transformaion fix the bug of getting none transformaion change it 100 steps fix the search table issue of not getting snapshot transformation * polish remove files refine skill mgr fix bug polish remove fix bug change config skills add polish polish --------- Co-authored-by: Tushar Sangam <[email protected]> Co-authored-by: Jimmy Yang <[email protected]>
* torque visualizations * ,taking backup
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joannetruong
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joannetruong
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This new branch consists of code changes from new_semantic_place_skill branch in accordance with the working skills_benchmarking_sem_place_working branch, to run episodes and also log. Also, some changes were made to add a small visualizer publisher in helper_nodes.py to visualise ee positions as ros markerArray message in Rviz.