Tobi @home#2
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…rotection); Also starting to run the program in real time, hence debugging
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Pull request overview
This pull request ("Tobi @home") represents a significant cleanup and refactoring of the AiNEX robot's upper body imitation control system. The changes include removal of backup/deprecated files, improved documentation, refactored motion retargeting logic, and enhanced environment configuration for the launch system.
Changes:
- Removed backup and deprecated files (spline_trajectory, rotation scripts, old control nodes, hand controller templates)
- Enhanced launch configuration with LD_LIBRARY_PATH support for cmeel libraries
- Refactored human-to-robot motion retargeting with improved inverse kinematics calculations and safety checks
- Added comprehensive module-level documentation to core controller files
- Introduced shell scripts for convenient launch workflows
- Updated robot interface with better joint subset handling and timing instrumentation
Reviewed changes
Copilot reviewed 18 out of 19 changed files in this pull request and generated 12 comments.
Show a summary per file
| File | Description |
|---|---|
| src/bringup/launch/upper_body_imitation.launch.py | Added LD_LIBRARY_PATH configuration for cmeel library support and improved path handling |
| src/ainex_controller/ainex_controller/spline_trajectory.py | Removed unused trajectory planning module |
| src/ainex_controller/ainex_controller/rotation_right.py | Removed symbolic IK computation script |
| src/ainex_controller/ainex_controller/rotation_left.py | Removed symbolic IK computation script |
| src/ainex_controller/ainex_controller/nmpc_controller.py | Added comprehensive module documentation and improved code comments |
| src/ainex_controller/ainex_controller/human_to_ainex_basis_backup.py | Removed backup file |
| src/ainex_controller/ainex_controller/human_to_ainex_basis.py | Major refactoring with unified angle calculation, zero-division safety checks, and improved documentation |
| src/ainex_controller/ainex_controller/ainex_robot_pose_imitation.py | Enhanced with subset conversion methods, comprehensive docstrings, and timing instrumentation |
| src/ainex_controller/ainex_controller/ainex_robot.py | Removed deprecated robot interface implementation |
| src/ainex_controller/ainex_controller/ainex_model.py | Added detailed docstrings and removed unused TF broadcasting code |
| src/ainex_controller/ainex_controller/ainex_imitation_control_node_3D_backup.py | Removed 3D backup implementation |
| src/ainex_controller/ainex_controller/ainex_imitation_control_node_2D_backup.py | Removed 2D backup implementation |
| src/ainex_controller/ainex_controller/ainex_imitation_control_node.py | Major refactoring with performance monitoring, exception handling, and cleaner parameter management |
| src/ainex_controller/ainex_controller/ainex_hands_control_node.py | Removed deprecated hand control node |
| src/ainex_controller/ainex_controller/ainex_hand_controller.py | Removed template hand controller implementation |
| imitation_short.sh | Added convenience script for quick launch |
| imitation.sh | Added comprehensive launch script with multiple terminal windows |
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…on.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
corrected error in human to ainex, where we didnt return "sho_elbow_vert" instead of "sho_roll" Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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@copilot open a new pull request to apply changes based on the comments in this thread |
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@TobiasToews I've opened a new pull request, #3, to work on those changes. Once the pull request is ready, I'll request review from you. |
[WIP] Refactor AiNEX robot upper body control system
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Cleaned version, please merge