Improve online execution

Next Steps and goals: @nik20652 , @hanikevi

• Figure out what script was used to generate the data

  We could not find the script that matched the joint/force values we trained with. So we have two options now:

  • Play rosbag and use movement instruction to comprehend the script that was used

    -> We played rosbag 030_SUCCESS and got the same joint trajectories, but it would have crashed at some point because the gripper movement was not recorded and therefore it failed. We also noticed that the cable was picked up at the white mounting and not the green one, so the trajectory is different and might also collapse with the camera Dingyuan installed (was removed before testing). For the online execution, we require new rosbags, but we can validate offline using the recorded rosbags.

  • record new rosbags

    • use script in git and change some waypoints
    • record nominal bags
    • record anomaly bags

• Comprehend the curves for joints and forces

• jit the model apply fn (in ros_adetecor.py)

• tune model:

  • latent dimension (~ order of magnitude)
  • window_size (~ order of magnitude)

• Consider all modalities (add joints)