Maurice Fallon

FYI: ROS-compatible version of Director exists

4

This is a note to users of Director. We (Oxford Dynamic Robot Systems) have adapted Director to natively compile within the ROS ecosystem: https://github.com/ori-drs/director PCL, OpenCV, VTK, Qt and other...

Director cannot handle collections messages at very high rate

2

Not going to fix it now, reporting anyway: Director locks up when receiving collection messages (from pronto in debug mode) at more than 300Hz or so. Need to disable collections...

accessing view options and image widget from 'modules'

1

@patmarion set up "modules" to allow customising the director by calling an additional python script on startup. It allows importing robotSystem which gives access ikPlanner, jointController and even the view...

Plane seg

1

a lot of the fitting routines in segmentation.py are dependent on plane-seg: oh-distro-private/software/perception/plane-seg Its main library is dependent on PCL and eigen. It also has a standalone lcm-based block fitter...

General Purpose Lidar Rendering

10

Feature request for general purpose lidar rendering in Director - in particular a set of N planar scans. Currently director supports rendering 360 degrees sweeps of Multisense SL data (about...

Getting head context for valkyrie

2

In segmentationroutines.py there are methods for getting an abstract context meaning "the direction the robot is looking". https://github.com/RobotLocomotion/director/blob/master/src/python/director/segmentationroutines.py#L109 Unfortunately the "head" frame of Valkyrie is inverted relative to Atlas (z-axis...

Required lcmtypes for visualisation of robot, sensors and plans

3

To allow the director to minimally operate without the full OH stack, what are the lcmtypes needed to: - draw the live robot state - render data - without libbot...

Render maps octrees as cubes

1

the octree code I integrated creates a separate folder ('Octomap) in the model browser:  While the Maps Server folder converts incoming octrees to a...

odd logic in teleoppannel.py

2

When debugging https://github.com/RobotLocomotion/director/pull/90 I noticed that this doesn't do anything: ``` if self.panel.ikPlanner.defaultIkParameters.useCollision: self.setLHandConstraint('ee fixed') else: self.setLHandConstraint('ee fixed') elif side == 'right': if self.panel.ikPlanner.defaultIkParameters.useCollision: self.setRHandConstraint('ee fixed') else: self.setRHandConstraint('ee fixed') ```...

Bug in ddDrakeModel::findLinkID

1

I think ddDrakeModel::findLinkID (or further down) has a bug. The foot frames on Val are 'RightFoot' and 'LeftFoot'. Recently NASA changed the F/T sensors to be: ``` child ``` This...