Create the initial Dexmate Vega module

• Comms tests
• Movement Tests
• Test Teleop methods
  • Gamepad
  • Exoskeleton
• Create a functional module with Rest Node, interface etc.

05/13 - Module in progress, Exoskeleton has arrived as of 05/08
06/01 - Have been working on installing necessary software on internal Jetson. Having difficulties installing software certificates, coordinating with Support Team
06/17 - Confirmed with Dexmate support that our robot came with a defect. Robot is missing critical software components that can only be installed by the vendor. Still working with support team to fix these issues.
07/08 - We were able to fix bugs and test basic movements. Robot is now functional however creating a MADSci module is still a remaining task.
07/08 - Waiting on building the teleop platform

• Vega module skeleton (MADSci node initialized).

• Zenoh node launch script.

• Exoskeleton teleoperation quick-launch script.

• Vega rest node.

  • Initialization.
  • Startup.
  • Shutdown.
  • State/status handlers (get_component_status, get_joint_positions).

• Vega interface.

  • Initialization
  • Startup.
  • Shutdown.
  • Corresponding state/status read methods (translation from Dexcontrol returns to MADSci usable formats).

• Test running as a MADSci node and confirm initial methods work.

• Node actions/control methods (EX set_joint_positions, move_component, etc)

• Teleoperation control (TBD if possible through MADSci).

• Data recording functionality.

• Policy training functionality.

• Policy deploying functionality.

• Testing.

• Documentation.

  • Troubleshooting and common issues.
  • Installation and usage guide.

UPDATE: Policy deploying without some sort of LeRobot integration seems unlikely. LeRobot-independent node development stopped for the time being in favor of attempting some kind of LeRobot integration.