urdf generic launch CLI test: xacro robot.urdf.xacro > test.urdf end_effector_type:=mock_pruner eef_parent:=ur5e__tool0 arm_type:=ur5 ur_type:=ur5e tf_prefix:=ur5e__ base_attachment_type:=linear_slider

TODO

1. Figure out better sensor -> camera -> ToF inheritance (ask Cindy)
2. Tree/robot/env interaction
3. For Claire:
   1. Figure out best way to manage tree/robot/environment interaction. I removed robot from penv, but self.trees still exists.
   2. Fill out the object_loader.py class. Activate/deactivate trees, supports, robots.
   3. Find the TODOs in all the code. Ask Luke what they mean and discuss solutions.
4. Format the final approach controller as a python subpackage?
   1. https://packaging.python.org/en/latest/guides/packaging-namespace-packages/#packaging-namespace-packages
5. Add basic cylinder to world. Dynamically create URDF.
6. Dynamically populate UR URDF. Allow for various end-effectors and robot configurations.
   1. Make sure to include camera and other sensors. (Source manifold mesh -- utils -> camera class (C++))
   2. Dynamic parent joint for Panda to slider/farm-ng (like UR5)
7. Add generic robot class (from Abhinav's code)
   1. Panda/UR5
   2. End-effector
8. Make mini orchard from a set of URDFs
   1. Space out like normal orchard
   2. Be aware of memory issues in PyB
9. Change pkl files to hdf5. (lower priority) -- Ask Abhinav for code
10. Test
    1. Various tof configurations

Installation

Requirements

ur, linear_slider, franka-emika

General use

python -m pip install .

Development

python -m pip install -e.

Useful RegEx commands...

For replacing .mtl file paths

From: ([a-zA-Z0-9_]*).mtl\n
To:   ../mtl/$1.mtl\n