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facebookresearch / home-robot

Mobile manipulation research tools for roboticists
MIT License
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Quality of life feature requests #218

Closed ykarmesh closed 1 year ago

ykarmesh commented 1 year ago

🚀 Feature

Quality of life feature request: 1) Check for runstop before starting any movements 2) Allow people to use assertion to check if the robot is homed.

Motivation

When the agent is in runstop mode, the policy code has no idea about it right now. The policy code keeps sending commands to the robot and the robot doesnt move. This wastes time since the user now needs to kill the current code and restart things again after the runstop as been removed. Similarly, when we want to use the arm, it has to be homed first. If the agent isnt homed and there are some initial parts of the experiment that doesnt require manipulation, we could be wasting a large amount of time before realizing the mistake.

cpaxton commented 1 year ago

@hello-binit @hello-fazil could you give some pointers on how we might do this? Big quality-of-life improvement for using the Stretch

hello-binit commented 1 year ago

Hey @cpaxton and @ykarmesh, thanks for bringing this up. We merged a PR today that gives you the /is_homed and /is_runstopped topics. I think the best place to add this would be to home_robot_hw.remote._create_pubs_subs().

cpaxton commented 1 year ago

Finally fixed here https://github.com/facebookresearch/home-robot/pull/338