Setup Questions

[bryceikeda]

Couple of questions on setting this up on a new robot. I'm trying to create the necessary files for the fetch robot. On this step:

4 Rust neural network files <sawyer_nn, sawyer_nn.yaml, sawyer_nn_jointpoint, sawyer_nn_jointpoint.yaml> in the collision_nn_rust folder

How do I generate those files?

Also, when I do step 5c and generate the relaxedIK.config file, do I need to put that in a folder in relaxed_ik_core before running cargo build?

[djrakita]

Thanks for the question. For all setup, please refer to the steps in the core relaxedIK repo https://github.com/uwgraphics/relaxed_ik

If you have any questions after that, just let me know!

[bryceikeda]

@djrakita Right, I'm not seeing anything in that repo about the 4 Rust file: sawyer_nn, sawyer_nn.yaml, sawyer_nn_jointpoint, sawyer_nn_jointpoint.yaml. Or should I be renaming those to say fetch?

Also, based on my understanding of this repo, I feel like it isn't build for the fetch robot with the torso since the torso is prismatic, but it should work if I set it up to only work with the arm? Is this understanding correct?

[bryceikeda]

I see I should be using the dev branch so I will try that.