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[wip] Vidhi hardware experiments #1306

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[wip] Vidhi hardware experiments #1306

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Commits on Apr 12, 2022

  1. Randomly initialize eyehandcal optimization problem using seed

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  2. WIP run_grasp overall architecture

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  3. Minor np.zeros-->np.empty

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  4. Fix for eyehandcal after realsense_wrapper changes

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  5. Add calibration.json to git

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  6. Add grasp_server proto init

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  7. WIP server/client architecture

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Commits on Apr 13, 2022

  1. Add msgs

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  2. Bump README

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  3. Update config.yml

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Commits on Apr 15, 2022

  1. Minor fixes

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  2. Readd envrc

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  3. Merge branch 'yixinlin/fairomsg' into yixinlin/graspnet

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  4. Reproduced o3d pointcloud creation

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Commits on Apr 18, 2022

  1. WIP: working grasp, pcd servers

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Commits on Apr 19, 2022

  1. Cleanup, working RobotInterface grasp

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  2. Camera pubsub, mrp msetup

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  3. Merge branch 'main' into yixinlin/graspnet

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  4. Update README.md

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Commits on Apr 26, 2022

  1. Prev cal

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  2. New cal

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Commits on Apr 27, 2022

  1. Merge branch 'main' into yixinlin/graspnet

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  2. Generally working continuous grasping with graspnet

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Commits on Apr 28, 2022

  1. Factor out mindist grasp

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Commits on May 4, 2022

  1. Prettified new calibration

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  2. Collision avoidance

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  3. Working continuous 2-bin-pick

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  4. Re-add envrc

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Commits on May 9, 2022

  1. Pretty intrinsincs json dump

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Commits on May 10, 2022

  1. Collision separation

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  2. Cleanup, working on hardware

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  3. Update readme

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Commits on May 12, 2022

  1. Segmentation separate service, move pcd to cam

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  2. Update README

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  3. Added mocked data

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  4. Merge branch 'main' into yixinlin/graspnet

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Commits on May 13, 2022

  1. Respond to Leo's feedback

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  2. Fix segmentation_rpc as well

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Commits on May 18, 2022

  1. WIP

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Commits on May 19, 2022

  1. Update intrinsics

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Commits on May 21, 2022

  1. Basically working stuff

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Commits on Jun 1, 2022

  1. Cleanup

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  2. Cleanup/docs for minimum orientation without z

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  3. Comment better depth accuracy for new cam resolution

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  4. Merge branch 'main' into yixinlin/graspnet

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  5. Merge branch 'yixinlin/graspnet' into yixinlin/grasping-mpk

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  6. Add ikpy as dep

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  7. Cleanup of run_grasp/robot_interface

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  8. Merge pull request #1157 from facebookresearch/yixinlin/grasping-mpk 

    [grasping] Improvements from FRE/MPK
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  9. Comment rotation conversion

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  10. Remove enforced version

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  11. Refactor pointcloud merging from multiple cams, revert camera res

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  12. Formatting, 3cam calibration

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  13. Add parametrized max gripper width

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  14. Add third_party, mrp

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  15. Add initial circleci

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  16. Limit submodules cloned by minecraft circleci job

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  17. Add gdown commands for checkpoints

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  18. Minor

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  19. Fix minecraft

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  20. Bump graspnet subcommit

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  21. Bump graspnet version

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Commits on Jun 2, 2022

  1. Add correct path to checkpoint

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  2. WIP ARTag marker integration

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Commits on Jun 3, 2022

  1. Add ARTag corresponding to pcd

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  2. Remove jpg

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Commits on Jul 9, 2022

  1. WIP

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  2. WIP eyehandcal

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Commits on Jul 13, 2022

  1. WIP: artags drawer

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  2. artag pos updated

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Commits on Jul 18, 2022

  1. drawer functions without time_to_go

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  2. cal

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Commits on Jul 19, 2022

  1. franka_hardware.yaml

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Commits on Jul 27, 2022

  1. WIP

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  2. WIP

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  3. WIP

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