Day 6 of making an autonomous bartender G1. It appears as though people were not lying about astra's ability to control robots in sim (using a controller, not a policy). We encountered some issues with the previous hand placements being too advantageous from our previous tele-op version and decided to implement everything from the default regular mode position (we can only turn waist in regular mode). We are also including the entire pipeline in this policy so as soon as someone asks for a drink, it will hand it to them without us implementing anything else. So now, since Astra is insane at using the G1 in sim, I spun up 100 subagents to spawn the coke can in many different positions and using only the G1 POV, it should pick up the can and place it in the blue box. If this works, I will never need to do tele-op again and my eyes will be saved. Again, I will show everything I do live and will show how this will look like at a conference so everyone will be able to try it out!