Lrainb/articutool spoon resting#217

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yetikatter wants to merge 238 commits intoros2-develfrom

lrainb/articutool-spoon-resting

Commits on Apr 2, 2025

Reposition in_front_of_face_wall to account for extra length of Articutool
jjaime2
committed
Use tool_tip frame instead of forkTip, and use jaco_arm_with_articutool move group
jjaime2
committed

Commits on Apr 8, 2025

Update planner_benchmark.py to use jaco_arm_with_articutool planning group
jjaime2
committed
Adjust above plate configuration to account for extra Articutool length
jjaime2
committed

Commits on Apr 13, 2025

Commits on Apr 15, 2025

Add Articutool joint constraints to motions that go to pre-defined configurations. For those that desire a pose determined at runtime, e.g. move above food, we'll need to be more clever since simpl…
jjaime2
committed

Commits on Apr 19, 2025

Commits on Apr 20, 2025

Commits on Apr 21, 2025

Commits on Apr 22, 2025

Temporarily disable max_path_len for j2n6s200_joint_1 and j2n6s200_joint_2
jjaime2
committed

Commits on Apr 24, 2025

Commits on Apr 30, 2025

Commits on May 10, 2025

Revert planner_benchmark default MoveIt2 object to jaco_arm
jjaime2
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Commits on May 11, 2025

Commits on May 14, 2025

Add metrics for Articutool feasibility, and add a script to analyze the results of the benchmark
jjaime2
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Commits on May 15, 2025

Commits on May 17, 2025

Disable orientation control service call for now, we'll find another place to activate it more selectively and intentionally
jjaime2
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Commits on May 18, 2025

Commits on May 19, 2025

Update CallSetOrientationControl to adhere to new interface
jjaime2
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Commits on May 22, 2025

Remove lingering call to CallSetOrientationControl
jjaime2
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Commits on May 23, 2025

Commits on May 28, 2025

Commits on May 29, 2025

Commits on Jun 1, 2025

Commits on Jun 2, 2025

Commits on Jun 3, 2025

Add small delay to allow IMU to settle after motion for reliable calibration
jjaime2
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Commits on Jun 10, 2025

Commits on Jun 13, 2025

Add action to scoop granular foods
jjaime2
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Commits on Jun 14, 2025

Commits on Jun 15, 2025

Add behavior to conditionally modify the food frame to align with the robot base. This is necessary because we want to be able to set a flag align_to_robot_base depending on the action being execut…
jjaime2
committed

Commits on Jun 30, 2025

Commits on Jul 1, 2025

Rename articutool screen session
jjaime2
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Commits on Jul 8, 2025

Adjust granular scooping action
jjaime2
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Commits on Jul 9, 2025

Commits on Jul 15, 2025

Adjust force/torque thresholds for granular scoop so that it can work with more shallow bowls where the tool needs to scrape along the bottom of the bowl rather than sift through granules.
jjaime2
committed

Commits on Jul 16, 2025

Add behavior to perform dynamic feasibility check on trajectories generated for the Jaco arm that indicate whether the Articutool is dynamically capable of maintaining its leveling orientation
jjaime2
authored

Commits on Jul 19, 2025

Update visualization script
jjaime2
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Commits on Jul 20, 2025

Commits on Jul 21, 2025

Commits on Jul 22, 2025

Add WIP implementation for a more holistic benchmark that seeks to compare various planning strategies
jjaime2
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Commits on Jul 24, 2025

Add constraint adherence score (WIP)
jjaime2
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Commits on Jul 25, 2025

Add rigid-wrist baseline mode for holistic benchmark
jjaime2
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Commits on Jul 26, 2025

Commits on Jul 30, 2025

Commits on Aug 7, 2025

Commits on Aug 9, 2025

Commits on Aug 12, 2025

Commits on Aug 14, 2025

Commits on Aug 15, 2025

Commits on Aug 17, 2025

Update .gitignore
jjaime2
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Commits on Aug 19, 2025

Commits on Aug 20, 2025

Commits on Aug 22, 2025

Commits on Aug 23, 2025