readme updates, fixing opencv conflicts

Makefile

@@ -3,6 +3,8 @@ COMPILE_ARGS = -std=c++17 -Wall -Wextra -ffunction-sections -fdata-sections -Og
 SRC_FILES = src/*.cpp 
 name = dep_injection
 
+ros:
+	colcon build --symlink-install
 install_debian_deps: 
 	sudo apt install python3-bloom python3-rosdep fakeroot debhelper dh-python
 
@@ -13,4 +15,4 @@ generate:
 build_debian: 
 	fakeroot debian/rules binary
 clean:
-	rm -rf ./debian
+	rm -rf ./debian

README.md

@@ -2,29 +2,36 @@
 
 # Grip
 
-Grip is a library for prototyping robot manipulation environments and applications. Grip contains tools for designing and prototyping robotic grasping applications, handling and acquiring data from simulated and real RGBD cameras, customising robot kinematics and dynamics, integration and deployment using ROS2. Grip was designed to be a lightweight python package to help prototyping, testing and deploying of robot grasping algorithms.
+Grip is a prototyping toolbox for robot manipulation research. It contains a collection of tools for creating robot manipulation environments, loading arbitrary robot arms and grippers through URDF, as well as handling and acquiring data from simulated and real RGBD cameras. It also supports ROS2 allowing created environments or applications to be easily integrated in the ros2 ecosystem.
 
 ## Installation <a name="installation"></a>
 
-### Standalone installation thorough pip:
+### Pure python installation thorough pip
 
 2. Install
 
 ```
 pip3 install git+https://github.com/dyson-ai/grip.git
 ```
 
-
 1. Run simple example (pure-python)
 
 ```
 python3 -m grip_examples.environments.ex01_pick_and_place
 ```
+
 This will run a basic pick and place demo. You should see the robot picking and placing a an object on the table (see below).
 
 ![Simple python demo](./grip_assets/media/simple_demo.gif)
 
-2. Run simple ROS2 example
+2. Another example: loading a Franka Panda robot (pure-python)
+
+```
+python3 -m grip_examples.robot.ex02_robots
+```
+This will spawn a franka robot that can be controlled through joint sliders. See more examples at `grip_examples`.
+
+1. Run simple ROS2 example (ros2 required)
 
 ```
 python3 -m grip_examples.environments.ex04_ros_robot
@@ -33,6 +40,7 @@ python3 -m grip_examples.environments.ex04_ros_robot
 ## Development setup
 
 Development with vscode and running more examples:
+
 1. Clone this repository ```git clone https://github.com/dyson-ai/grip.git```
 
 2. Run vscode: ```code grip```
@@ -41,33 +49,34 @@ Development with vscode and running more examples:
 
 4. Build repo with colcon: ```colcon build```
 
-5. Run example launch file: ```ros2 launch grip ros_arm.launch.py```
+
+## ROS2 examples
+A few basic ROS2 examples are described below.
+
+### Basic ROS example
+
+Launch file:
+```
+ros2 launch grip ros_arm.launch.py
+```
 
 You should be able to see a bullet simulation of a panda arm, and a pre-configured rviz displaying the robot model, state, and point cloud as below. This example node is located at `grip/grip_examples/robot/ex04_ros_robot.py`. For more examples see `grip/grip_examples` and `grip/launch`.
 
 ![Basic ROS2 demo](./grip_assets/media/basic_demo_2x.gif)
 
+### Moveit demo
 
-## Topics, services and actions of simulated ROS robot
+Launch file:
+```
+ros2 launch grip moveit_demo.launch.py
+```
+You should be able to see a bullet simulation of a panda arm, and a pre-configured rviz displaying the robot model, state, and point cloud, and moveit planning scene as below. The main node for this example is located at `grip/grip_examples/robot/ex05_ros_robot_moveit.py`. For more examples see `grip/grip_examples` and `grip/launch`.
 
-The provided ROS interface should allow for ROS standard communication (e.g. if you want to connect the robot to moveit, or subscribe to its topics, etc)
+![Basic ROS2 demo](./grip_assets/media/moveit_demo.gif)
 
-### Robot and camera topics
-   ```
-   /hand_camera/color/undistorted/camera_info
-   /hand_camera/color/undistorted/image_rect
-   /hand_camera/depth_registered/points
-   /hand_camera/depth_registered/undistorted/camera_info
-   /hand_camera/depth_registered/undistorted/image_rect
-   /joint_states
-   /robot_description
-   /tf
-   /tf_static
-   ```
 
-### Joint trajectory action server
+## Topics, services and actions of simulated ROS robot
 
-   ```
-   /position_joint_trajectory_controller/follow_joint_trajectory
-   ```
+The provided ROS interface should allow for ROS standard communication (e.g. if you want to connect the robot to moveit, or subscribe to its topics, tf, services, actions, sensors, etc)
 
+Happy coding!

launch/ros_arm.launch.py

@@ -5,7 +5,7 @@
 from launch_ros.actions import Node
 from launch_ros.descriptions import ParameterValue
 
-from grip.ros import depth_proc_launch
+from grip.ros.depth_proc_launch import depth_proc_launch
 import pybullet_data as pd
 
 

requirements_dev.txt

@@ -2,7 +2,7 @@ numpy>=1.25.2 # numerical computing library
 scipy>=1.11.1 # scientific computation tools
 pybullet>=3.2.4 # physics engine used for simulation
 open3d>=0.10.0 # point cloud processing tools
-opencv-python>=4.9.0.80 # computer vision tools
+# opencv-python>=4.9.0.80 # computer vision tools
 matplotlib>=3.3.4 # plotting tools
 pybullet_planning@git+https://github.com/eaa3/pybullet_planning.git@dev # pure python motion planning
 trimesh==3.9.20 # mesh processing tools

scripts/preinst

@@ -5,4 +5,4 @@ SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
 echo "Script path: ${SCRIPT_DIR}"
 
-pip3 install numpy>=1.25.2 scipy>=1.11.1 pybullet>=3.2.4 open3d>=0.10.0 opencv-python-headless>=4.8.0.76 matplotlib>=3.3.4 ghalton==0.6.1 pybullet_planning@git+https://github.com/eaa3/pybullet_planning.git@dev trimesh==3.9.20 xatlas==0.0.7 transforms3d==0.4.1
+pip3 install numpy>=1.25.2 scipy>=1.11.1 pybullet>=3.2.4 open3d>=0.10.0 matplotlib>=3.3.4 ghalton==0.6.1 pybullet_planning@git+https://github.com/eaa3/pybullet_planning.git@dev trimesh==3.9.20 xatlas==0.0.7 transforms3d==0.4.1

setup.py

@@ -53,8 +53,9 @@
     name=package_name,
     version=__version__,
     description=(
-        "grip is a library for Robot Grasp Learning Environments."
-        "The goal of grip is to help prototyping, testing and deploying of robot grasping algorithms."
+        "Grip is a prototyping toolbox for manipulation research."
+        "It contains a collection of tools for creating robot manipulation environments, loading arbitrary robots, including grippers, robot arms, sensors and optional ROS2 interfaces."
+
     ),
     url="https://github.com/dyson-ai/grip",
     author="Ermano Arruda",