Lucas Manuelli

See https://docs.docker.com/engine/reference/builder/#dockerignore-file

Right now there are a bunch of things in `iiwa_hardware.pmd` that are specific to the iiwa_1 robot. Basically any time `RLG_iiwa_1` or `carmine_1` shows up. We should have an easy...

Would be very convenient to add a gripper palm frame to the urdf used both in the ROS stack and the one used in the `plan_runner`. Ideally this would be...

The ggcnn grasp planner is partially integrated in the `lm-ggcnn` branch. Still a bunch of to-do's. - [ ] Properly compute gripper width (mm) from width in pixels - [...

Some promising grasp planners include - [ggcnn](https://github.com/dougsm/ggcnn) - [pushing and grasping](https://github.com/andyzeng/visual-pushing-grasping)

Add button in director to stop current plan

1

Basically want a way a button that sends the stop signal (via ROS) to the `plan_runner`. The `plan_runner` should stop the current plan and replace it with a `JointTrajectoryPlan` that...

Use xacro to make urdfs

1

The `iiwa_description` package could be useful. https://github.com/IFL-CAMP/iiwa_stack/tree/master/iiwa_description

Drake iiwa simulation

3

- [x] Ensure it is wired up in the same way that the robot hardware is in terms of messages etc. - [ ] Simulate depth (more important) and RGB...

Add support for visualizing ROS pointclouds in director

2

@patmarion can you point me in the right direction here?

investigate catkin_tools for managing build

2

Suggested by John and Jake. Helps manage standard cmake and catkin builds.