update

.gitignore

@@ -5,3 +5,4 @@
 *.Rmd
 *.Rproj
 
+*.html

Harvesting.egg-info/PKG-INFO

@@ -0,0 +1,87 @@
+Metadata-Version: 2.1
+Name: Harvesting
+Version: 0.1.0
+Summary: A package for the harvesting robot project
+Home-page: https://github.com/sainavaneet/Harvesting
+Author: Sai Navaneet
+Author-email: sainavaneet@knu.ac.kr
+License: UNKNOWN
+Description: Cucumber harvesting using Object Detecion
+        ================
+
+        ## Introduction
+
+        This repository is dedicated to the development of a cucumber harvesting
+        system that utilizes custom object detection with `YOLOv11`. After
+        detecting cucumbers, we generate specific actions for two types of
+        robots: the `ViperX 300s` arm robot and an `Automated Guided Vehicle`
+        (AGV) robot.
+
+        The primary aim of this project is to create a comprehensive `dataset`
+        that captures both the actions performed by the robots and the images
+        taken during the harvesting process. This dataset is a crucial resource
+        for developing and refining algorithms that will enhance future robotic
+        harvesting techniques.
+
+        By systematically recording a wide array of interactions and scenarios,
+        we not only improve the efficiency of current systems but also lay a
+        robust foundation for future advancements in agricultural robotics. This
+        initiative represents a significant step forward in automating and
+        optimizing the harvesting process through the integration of advanced
+        machine learning models and robotic technology.
+
+        ## 🛠️ Prerequisites
+
+        - **Ubuntu 20.04** 🐧
+
+        - **Interbotix Packages** 🤖
+
+        - **Python** 🐍
+
+        - **ROS** 🤖
+
+        - **interbotix_ws : -**
+
+        ## 🚀 Installation
+
+        To get started with this frame work, follow these steps:
+
+        ``` bash
+
+        git clone https://github.com/sainavaneet/Harvesting.git
+
+        cd Harvesting/
+
+        conda create -n harvest python=3.8.10
+        conda activate harvest
+        pip install pyquaternion
+        pip install pyyaml
+        pip install rospkg
+        pip install pexpect
+        pip install opencv-python
+        pip install matplotlib
+        pip install einops
+        pip install packaging
+        pip install h5py
+        pip install ipython
+
+        ```
+
+        ## 🗂 Project Structure
+
+        ## Launch
+
+        ``` bash
+        source interbotix_ws/devel.setup.bash
+
+        cd ~/Harvesting/launch/
+
+        roslaunch robot.launch use_rviz:=false use_sim:=False # if you need in simulation use True
+        ```
+
+Platform: UNKNOWN
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.8, <3.9
+Description-Content-Type: text/markdown

Harvesting.egg-info/SOURCES.txt

@@ -0,0 +1,7 @@
+README.md
+setup.py
+Harvesting.egg-info/PKG-INFO
+Harvesting.egg-info/SOURCES.txt
+Harvesting.egg-info/dependency_links.txt
+Harvesting.egg-info/requires.txt
+Harvesting.egg-info/top_level.txt

Harvesting.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

Harvesting.egg-info/requires.txt

@@ -0,0 +1,11 @@
+einops
+h5py
+ipython
+matplotlib
+opencv-python
+packaging
+pexpect
+pyquaternion
+pyyaml
+rospkg
+ultralytics

Harvesting.egg-info/top_level.txt

@@ -0,0 +1 @@
+

README.md

@@ -39,11 +39,24 @@ machine learning models and robotic technology.
 To get started with this frame work, follow these steps:
 
 ``` bash
+
 git clone https://github.com/sainavaneet/Harvesting.git
 
 cd Harvesting/
 
-pip install -r requirements.txt
+conda create -n harvest python=3.8.10
+conda activate harvest
+pip install pyquaternion
+pip install pyyaml
+pip install rospkg
+pip install pexpect
+pip install opencv-python
+pip install matplotlib
+pip install einops
+pip install packaging
+pip install h5py
+pip install ipython
+
 ```
 
 ## 🗂 Project Structure

config/vx300s.yaml

@@ -0,0 +1,15 @@
+port: /dev/ttyDXL_puppet_left
+
+
+groups:
+  arm:
+    operating_mode: position
+    profile_type: time
+    profile_velocity: 5000
+    profile_acceleration: 300
+    torque_enable: false
+
+singles:
+  gripper:
+    operating_mode: position
+    torque_enable: True

harvest.py

@@ -49,6 +49,9 @@ def set_end_effector_pose(self, x, y, z, moving_time):
         self.bot.arm.set_ee_pose_components(x=x, y=y, z=z, moving_time=moving_time)
 
 
+    def move_to_start(self):
+        self.base_robot.move_to_start()
+
 
     def operation(self, cucu_id):
 
@@ -90,11 +93,39 @@ def operation(self, cucu_id):
 
         self.place_in_basket()
 
+    def perform_task(self):
+
+        self.operation('cucu1')
+
+        self.move_forward()
+
+        self.operation('cucu2')
+
+        self.operation('cucu3')
+
+        self.move_forward()
+
+        self.operation('cucu4')
+        self.operation('cucu5')
+
+        self.move_forward()
+
+        self.operation('cucu6')
+        self.operation('cucu7')
+
+        self.move_forward()
+
+        self.operation('cucu8')
+        self.move_forward()
+        self.operation('cucu9')
+
+        self.move_to_start()
+
 
 
 if __name__ == "__main__":
     task = Harvest()
 
-    task.operation('cucu1')
+    task.perform_task()
 
 

launch/robot.launch

@@ -0,0 +1,38 @@
+<launch>
+
+  <!-- Arguments -->
+  <arg name="robot_model_puppet"                default="vx300s"/>
+
+  <arg name="base_link_puppet"                  default="base_link"/>
+
+  <arg name="puppet_modes_left"                 default="/home/dexweaver/Github/cucumber-harvesting/config/vx300s.yaml"/>
+
+  <arg name="launch_driver"                     default="true"/>
+  <arg name="use_sim"                           default="true"/>
+  <arg name="use_rviz"                          default="false"/>
+
+
+  <arg name="robot_name_puppet_left"            value="puppet_left"/>
+
+
+  <!-- Puppet Left Robot -->
+  <include if="$(arg launch_driver)" file="$(find interbotix_xsarm_control)/launch/xsarm_control.launch">
+    <arg name="robot_model"                       value="$(arg robot_model_puppet)"/>
+    <arg name="robot_name"                        value="$(arg robot_name_puppet_left)"/>
+    <arg name="base_link_frame"                   value="$(arg base_link_puppet)"/>
+    <arg name="use_world_frame"                   value="false"/>
+    <arg name="use_rviz"                          value="false"/> 
+    <arg name="mode_configs"                      value="$(arg puppet_modes_left)"/>
+    <arg name="use_sim"                           value="$(arg use_sim)"/>
+  </include>
+
+
+  <node
+    name="puppet_left_transform_broadcaster"
+    pkg="tf2_ros"
+    type="static_transform_publisher"
+    args="0.0 0.0 0 0 0 0 /world /$(arg robot_name_puppet_left)/base_link"/>
+
+ <node if="$(arg use_rviz)" pkg="rviz" type="rviz" name="rviz_puppet_left" args="-d /home/dexweaver/Github/cucumber-harvesting/rviz/puppet_left.rviz"/>
+
+</launch>

requirements.txt

@@ -0,0 +1,11 @@
+pyquaternion
+pyyaml
+rospkg
+pexpect
+opencv-python
+matplotlib
+einops
+packaging
+h5py
+ipython
+ultralytics