Code

Improve Bite Transfer#72

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amalnanavati merged 22 commits intoros2-develpersonalrobotics/ada_feeding:ros2-develfrom amaln/improve_bite_transferpersonalrobotics/ada_feeding:amaln/improve_bite_transferCopy head branch name to clipboardSep 19, 2023

+1,072-165

Commits

Commits on Sep 18, 2023

• Reverted to in-front staging location, added a cartesian motion to mouth

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  3290a77

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• MoveToMouth and MoveFromMouth works well in sim

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  0c66f52

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• Add cleanup to turn watchdog listener on to MoveToRestingPosition and MoveAbovePlate

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  1d2ce81

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• Added ability to specific separate orientaiton constraints for staging location vs end config for MoveFromMouth

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• Added velocity scaling to MoveFromMouth

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  38f8b39

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• Made cartesian motions avoid collision

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• Updated README.md

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• Move the staging location down, adjust the planning scene based on the real table location

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• Added ability to set pipeline id

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  2925bc9

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• Added ability to set acceleration scaling

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  7c93b0e

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• Add velocity scaling to cartesian planning

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  7d40c82

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• Formatting and linting

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  e6a76a8

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• Added more granular control for cartesian planning

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  dc17cb6

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• Fix cartesian velocity scaling

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  ed16dc2

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• Linting

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  417dbfe

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• Fix the MoveFromMouth staging location to be the new lower staging location

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  c194374

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• Added a min distance to use a detected face

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• Final polishing

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  db3319e

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• Fix face detection out-of-bounds bug

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  36ce37f

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• Remove unnecessary ReentrantCallbackGroup

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  6799e8a

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• Make toggle collision object asynch

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  567d2ab

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• Linting

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