Avb/click ik - #199
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Summary
Closes NaN
Added click IK. In the camera client there is a new ClickIK panel and in this panel you can click on a surface in the image and the Click IK node will attempt to move the arm to touch the clicked surface. Additionally, the sample button overlays green and red pixels over the camera stream that indicate what positions are reachable by the arm.
Did you add documentation to the wiki?
Not yet.
How was this code tested?
Tested sampling and click inputs in simulator against the lander, hammer, bottle, and rocks.
shortbottle.mov
ShortType.mov
Did you test this in sim?
Yes
Did you test this on the rover?
No, issues with connecting to the zed without the Jetson, will test when possible.
Did you add unit tests?
No, I have tested it pretty extensively manually, and success is difficult to quantify and verify.