Docker Image V2.2 Release

[DavidPL1]

Version 2.2 of the docker image is now officially released!

Added

• Plugging Task:
  • Removed the ideal_* sensors. They were redundant as they provided the same data as the non-ideal ones. To access the unperturbed pose of the fixture on difficulty levels 2 and 4 in training mode, use the goal_pos/goal_pos_GT and goal_quat/goal_quat_GT sensors.
  • The scoring interface is now implemented and available, meaning that
    • each stage of the task is now timed out after 30 seconds,
    • the current stage is now available via the /current_stage rostopic,
    • the achieved scores can be queried via the rosservice /get_assembly_status, and
    • starting the simulation with the argument save_results_path:=<RESULTS_DIR> set to a directory will export the task scores as a YAML file after a run.
  • The currently loaded geometry type is exposed via the rosparam /loaded_geometry when the simulation runs in training mode. The possible values are "cylindric", "cuboid", "triangular", and "". The last corresponds to the undefined state, e.g., when running in evaluation mode.
  • Added an exemplary solution for plugging.
  • Updated the wiki page for the plugging task:
    • added a description for the sensors goal_*
    • described the completion conditions for the plugging sub-tasks
    • added images with the geometry data for the task objects (plug, fixture)

Fixed

• General
  • Hardware interface of the panda did not really use efforts computed by velocity controllers (ubi-agni/franka_ros_mujoco@5b376f0)
• Screwing Task:
  • Fixed wrong build causing no detection of align screw and nut and tighten screw stages.
• Plugging Task:
  • Fixed the pose of the second clip in the fixture model. Previously, the clip's pose was not perturbed/offset along with the others.
  • The dynamics of the clips (snap hooks) are now faster and less dampened, i.e., they behave more closely to a stiffer spring than before. Previously, the weight of the plug was enough to push through the clipping.
  • The plug's pose is sampled as intended. Previously, the plug's and the fixture's poses were sampled from the ranges intended for the fixture. This potentially resulted in the objects overlapping, the consequent physical insensibility, and the plug flying off the scene.