From d21aef97a66355d5c1d11205f697f7c6e8043e4f Mon Sep 17 00:00:00 2001 From: Navaneet Date: Tue, 10 Dec 2024 18:14:15 +0900 Subject: [PATCH] update --- .DS_Store | Bin 8196 -> 10244 bytes .gitignore | 1 + Harvesting.egg-info/PKG-INFO | 87 ++++++ Harvesting.egg-info/SOURCES.txt | 7 + Harvesting.egg-info/dependency_links.txt | 1 + Harvesting.egg-info/requires.txt | 11 + Harvesting.egg-info/top_level.txt | 1 + README.md | 15 +- __init__.py | 0 __pycache__/var.cpython-38.pyc | Bin 0 -> 1102 bytes .../__pycache__/agv_control.cpython-38.pyc | Bin base_control/agv_control.py | 0 base_control/examples/move_6s_back.py | 0 base_control/examples/move_6s_forward.py | 0 config/vx300s.yaml | 15 + harvest.py | 33 ++- images/obj_detection.png | Bin 0 -> 151162 bytes index.md | 0 launch/robot.launch | 38 +++ requirements.txt | 11 + rviz/puppet_left.rviz | 271 ++++++++++++++++++ rviz/rviz.rviz | 268 +++++++++++++++++ setup.py | 31 ++ sleep.py | 27 ++ transform_co.py | 2 +- utilities.py | 23 +- var.py | 34 +++ 27 files changed, 871 insertions(+), 5 deletions(-) create mode 100755 Harvesting.egg-info/PKG-INFO create mode 100755 Harvesting.egg-info/SOURCES.txt create mode 100755 Harvesting.egg-info/dependency_links.txt create mode 100755 Harvesting.egg-info/requires.txt create mode 100755 Harvesting.egg-info/top_level.txt mode change 100644 => 100755 README.md create mode 100755 __init__.py create mode 100755 __pycache__/var.cpython-38.pyc mode change 100644 => 100755 base_control/__pycache__/agv_control.cpython-38.pyc mode change 100644 => 100755 base_control/agv_control.py mode change 100644 => 100755 base_control/examples/move_6s_back.py mode change 100644 => 100755 base_control/examples/move_6s_forward.py create mode 100755 config/vx300s.yaml mode change 100644 => 100755 harvest.py create mode 100755 images/obj_detection.png mode change 100644 => 100755 index.md create mode 100755 launch/robot.launch create mode 100755 requirements.txt create mode 100755 rviz/puppet_left.rviz create mode 100755 rviz/rviz.rviz create mode 100755 setup.py create mode 100755 sleep.py mode change 100644 => 100755 transform_co.py mode change 100644 => 100755 utilities.py create mode 100755 var.py diff --git a/.DS_Store b/.DS_Store index d4605d4f694cefe1e2479f8611a17069e052ba92..28619653efd00daa51e7759c08be17636ea96a0e 100644 GIT binary patch literal 10244 zcmeHMJ&YSg6n=9t&ic+AmXeDI0%;|h2we^zK{=x6Bx4*23L=R4DFSl5=bu}$-nIM_ zD>sJ3M5KO1QiI75QyR$np8-kq)9`a0x5xSete#>cVl0JIB7=OeX~37&Aj)$ zx9`o^M8t~y+B%U-L=G-ab6MPC8XxD^R9jGQHbEKWDQK>jx1v^iiqpQZ2v`Ix0u}*_ zfJNZ{f&gkZZ_bjW_HGfd2v`L65#ag3#l>ks(V?Uwb>JqB0H7(n77hIz?|{0B78D&y ziV-v>MM0$~Q%4LY#qr)%d<8{^l1g!6>hQtT%1oV5m{=Y2yMmoqK~j6S2v`KB5#VR{ z6s=K{eCnC!_rJc-$68UTQbFLt!O+`t+??flPe`~8}qW;a^4D6Fz(h${1_zq;%dQXh*dg`=&FKV!&4W2^WnXwIm?va=A1=GX8By_ zCUluoQpe0a{l{hH)48R`@qBP;9p~j+E|iA9g{OgBhw8djM6YKi$93ITvOnKeU%xSj z?(ZZXT@RuwT#v;GU&VR+8}OMPe|g%!h?P1rW)t4${%%lYT9y46vmB$jBz1cmjlI7g zm+?Kf^w?Jimo_k3DPoF+PJRA@vraxv@*&O2G1C&BpyQ#nIm$@#~!Lv9eVVTpKIv#)RWJ1 z^~AUSA#~Go^h|kg&~2+6|AW^K{BAFw|D7!yNj;K2>Kt{JoOjFH(V*O`_WIpowR4$2 zy%9x$H|kftxBU8`k~{uV6!xlqSnmh{zg7p!J8%18EgBS~epu@Y*|HpPGESzFJGry- z{KnZ;cm3=OyQ}Wb`k6ENRrlO;`Q6=&v-0$_=Py;R2CXpSMxima_oheX^ZxxK^ky1r zI`PE4d1Q3QqS)NIFN@R6we+Anh@24s43469-nTQ=oWv(8vA29ikpiYpQsY5 zjgLQ#xN!p&`FTDDEj#!?L+FY0hki?KUgEUo@uO><-M12(P9z*&I%DK``DM>&x)k?GLw_@-M4>Y4P#ul8ZmJ5iBVF}=9q|+SRUPa=Xr4?e8a9`BBKlbp;o1oNp+p5W!8HmO#b!5D)z4 y_*1wzZ=O@$&@U)DloW5!{_{Tr0s>u delta 226 zcmZn(XmOBWU|?W$DortDU;r^WfEYvza8FDWo2aMAD7`UYH$S8FWF7&j*j6u~3=4xE zLpnnyLrHGFi%U{YeiBI6&j+bK|C*0EqROY>l`qIJ3{K9^Edc6aU|@2X{9aIY@(RK0 zo7sgk7$<)hF`1k#uDIDpypCzIlT_KpwEK*L%wVMq65K%A739W^iQkzg^Q#1MFhX3; RFgc!Q+GH`wEf6ht7y+lrIBNg^ diff --git a/.gitignore b/.gitignore index 0bf0fc4..4203607 100644 --- a/.gitignore +++ b/.gitignore @@ -5,3 +5,4 @@ *.Rmd *.Rproj +*.html diff --git a/Harvesting.egg-info/PKG-INFO b/Harvesting.egg-info/PKG-INFO new file mode 100755 index 0000000..a1fb707 --- /dev/null +++ b/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 diff --git a/Harvesting.egg-info/SOURCES.txt b/Harvesting.egg-info/SOURCES.txt new file mode 100755 index 0000000..ca0d889 --- /dev/null +++ b/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 \ No newline at end of file diff --git a/Harvesting.egg-info/dependency_links.txt b/Harvesting.egg-info/dependency_links.txt new file mode 100755 index 0000000..8b13789 --- /dev/null +++ b/Harvesting.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/Harvesting.egg-info/requires.txt b/Harvesting.egg-info/requires.txt new file mode 100755 index 0000000..be3f398 --- /dev/null +++ b/Harvesting.egg-info/requires.txt @@ -0,0 +1,11 @@ +einops +h5py +ipython +matplotlib +opencv-python +packaging +pexpect +pyquaternion +pyyaml +rospkg +ultralytics diff --git a/Harvesting.egg-info/top_level.txt b/Harvesting.egg-info/top_level.txt new file mode 100755 index 0000000..8b13789 --- /dev/null +++ b/Harvesting.egg-info/top_level.txt @@ -0,0 +1 @@ + diff --git a/README.md b/README.md old mode 100644 new mode 100755 index 4997951..14a5cdf --- a/README.md +++ b/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 diff --git a/__init__.py b/__init__.py new file mode 100755 index 0000000..e69de29 diff --git a/__pycache__/var.cpython-38.pyc b/__pycache__/var.cpython-38.pyc new file mode 100755 index 0000000000000000000000000000000000000000..1b6b247f936b5047283bd1bcb6480c410e476316 GIT binary patch literal 1102 zcmah_OK1~O6rEqvN!s+Uty-hjE*ha7Z2f}zTGNn3+9XXIE;zL`nJRw&+K-nsYObMJlcPIx?S0^7*1 zvuM#l5GzKo(L6X9!hf-cBnU`AGE49zq<9L_JPjG>fKFI9OG6gtT&CxqrC>d5fF7G~ zwD~5iYBr-5>@hZ9k0VQO@PGR>!`3bIZ5#UkU*ClLwA=UDX3uSg+hK>zciQ}pSr^a1 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B&sqQg literal 0 HcmV?d00001 diff --git a/index.md b/index.md old mode 100644 new mode 100755 diff --git a/launch/robot.launch b/launch/robot.launch new file mode 100755 index 0000000..439eda8 --- /dev/null +++ b/launch/robot.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/requirements.txt b/requirements.txt new file mode 100755 index 0000000..6e6670b --- /dev/null +++ b/requirements.txt @@ -0,0 +1,11 @@ +pyquaternion +pyyaml +rospkg +pexpect +opencv-python +matplotlib +einops +packaging +h5py +ipython +ultralytics \ No newline at end of file diff --git a/rviz/puppet_left.rviz b/rviz/puppet_left.rviz new file mode 100755 index 0000000..526c8e9 --- /dev/null +++ b/rviz/puppet_left.rviz @@ -0,0 +1,271 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1 + - /TF1/Frames1 + - /TF1/Frames1/puppet_left/ee_gripper_link1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 719 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.699999988079071 + Cell Size: 0.25 + Class: rviz/Grid + Color: 255; 255; 255 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + puppet_left/base_link: + Value: true + puppet_left/ee_arm_link: + Value: true + puppet_left/ee_gripper_link: + Value: true + puppet_left/fingers_link: + Value: true + puppet_left/gripper_bar_link: + Value: true + puppet_left/gripper_link: + Value: true + puppet_left/gripper_prop_link: + Value: true + puppet_left/left_finger_link: + Value: true + puppet_left/lower_forearm_link: + Value: true + puppet_left/right_finger_link: + Value: true + puppet_left/shoulder_link: + Value: true + puppet_left/upper_arm_link: + Value: true + puppet_left/upper_forearm_link: + Value: true + puppet_left/wrist_link: + Value: true + world: + Value: true + Marker Alpha: 1 + Marker Scale: 0.15000000596046448 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + puppet_left/base_link: + puppet_left/shoulder_link: + puppet_left/upper_arm_link: + puppet_left/upper_forearm_link: + puppet_left/lower_forearm_link: + puppet_left/wrist_link: + puppet_left/gripper_link: + puppet_left/ee_arm_link: + puppet_left/gripper_bar_link: + puppet_left/fingers_link: + puppet_left/ee_gripper_link: + {} + puppet_left/left_finger_link: + {} + puppet_left/right_finger_link: + {} + puppet_left/gripper_prop_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + puppet_left/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/ee_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + puppet_left/ee_gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + puppet_left/fingers_link: + Alpha: 1 + Show Axes: false + Show Trail: false + puppet_left/gripper_bar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/gripper_prop_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/left_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/lower_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/right_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/upper_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/wrist_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: puppet_left/robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 0; 176; 240 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.8979061841964722 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5453982353210449 + Target Frame: + Yaw: 1.0853981971740723 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1848 + X: 72 + Y: 27 diff --git a/rviz/rviz.rviz b/rviz/rviz.rviz new file mode 100755 index 0000000..6c9ce48 --- /dev/null +++ b/rviz/rviz.rviz @@ -0,0 +1,268 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 719 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.699999988079071 + Cell Size: 0.25 + Class: rviz/Grid + Color: 255; 255; 255 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + puppet_left/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/ee_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + puppet_left/ee_gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + puppet_left/fingers_link: + Alpha: 1 + Show Axes: false + Show Trail: false + puppet_left/gripper_bar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/gripper_prop_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/left_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/lower_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/right_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/upper_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + puppet_left/wrist_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: puppet_left/robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + puppet_left/base_link: + Value: true + puppet_left/ee_arm_link: + Value: true + puppet_left/ee_gripper_link: + Value: true + puppet_left/fingers_link: + Value: true + puppet_left/gripper_bar_link: + Value: true + puppet_left/gripper_link: + Value: true + puppet_left/gripper_prop_link: + Value: true + puppet_left/left_finger_link: + Value: true + puppet_left/lower_forearm_link: + Value: true + puppet_left/right_finger_link: + Value: true + puppet_left/shoulder_link: + Value: true + puppet_left/upper_arm_link: + Value: true + puppet_left/upper_forearm_link: + Value: true + puppet_left/wrist_link: + Value: true + world: + Value: true + Marker Alpha: 1 + Marker Scale: 0.10000000149011612 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + puppet_left/base_link: + puppet_left/shoulder_link: + puppet_left/upper_arm_link: + puppet_left/upper_forearm_link: + puppet_left/lower_forearm_link: + puppet_left/wrist_link: + puppet_left/gripper_link: + puppet_left/ee_arm_link: + puppet_left/gripper_bar_link: + puppet_left/fingers_link: + puppet_left/ee_gripper_link: + {} + puppet_left/left_finger_link: + {} + puppet_left/right_finger_link: + {} + puppet_left/gripper_prop_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 120; 174; 240 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.1491858959198 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0.07465636730194092 + Y: 0.3091955780982971 + Z: -0.21120208501815796 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6203986406326294 + Target Frame: + Yaw: 4.742218971252441 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1842 + X: 78 + Y: 27 diff --git a/setup.py b/setup.py new file mode 100755 index 0000000..7a4cabd --- /dev/null +++ b/setup.py @@ -0,0 +1,31 @@ +from setuptools import setup, find_packages +import os + +# Read the requirements from requirements.txt +def read_requirements(): + with open("requirements.txt") as req: + return req.read().splitlines() + +setup( + name="Harvesting", + version="0.1.0", + author="Sai Navaneet", + author_email="sainavaneet@knu.ac.kr", + description="A package for the harvesting robot project", + long_description=open("README.md").read(), + long_description_content_type="text/markdown", + url="https://github.com/sainavaneet/Harvesting", + packages=find_packages(include=["base_control", "object_detection"]), + package_data={ + '': ['config/*.yaml', 'rviz/*.rviz', 'launch/*.launch'] + }, + include_package_data=True, + install_requires=read_requirements(), # Automatically load dependencies from requirements.txt + + classifiers=[ + "Programming Language :: Python :: 3", + "License :: OSI Approved :: MIT License", + "Operating System :: OS Independent", + ], + python_requires=">=3.8, <3.9", +) diff --git a/sleep.py b/sleep.py new file mode 100755 index 0000000..f14ba32 --- /dev/null +++ b/sleep.py @@ -0,0 +1,27 @@ +import numpy as np +from interbotix_xs_modules.arm import InterbotixManipulatorXS +import rospy + + +from scripts.robot_utils import * + +GRIPPER_JOINT_CLOSE = 0.4 + + + + +def torque_on(bot): + bot.dxl.robot_torque_enable("group", "arm", True) + bot.dxl.robot_torque_enable("single", "gripper", True) + + + + + +bot = InterbotixManipulatorXS(robot_model="vx300s", group_name="arm", gripper_name="gripper", robot_name='puppet_left', init_node=True) +torque_on(bot) + + + + +bot.arm.go_to_sleep_pose() diff --git a/transform_co.py b/transform_co.py old mode 100644 new mode 100755 index a16c6f0..de72401 --- a/transform_co.py +++ b/transform_co.py @@ -1,4 +1,4 @@ -from detection_realsenes import ObjectPoseEstimator +from object_detection.detection_realsenes import ObjectPoseEstimator import rospy import tf from geometry_msgs.msg import PoseStamped diff --git a/utilities.py b/utilities.py old mode 100644 new mode 100755 index 9a8915c..d0c8b41 --- a/utilities.py +++ b/utilities.py @@ -1,7 +1,12 @@ import numpy as np import time from interbotix_xs_msgs.msg import JointSingleCommand -from config import * +from var import * +import IPython +e = IPython.embed + + +DT = 0.002 class Utils: @staticmethod @@ -107,4 +112,18 @@ def torque_on(bot): ENABLE torque for the both joints and Gripper """ bot.dxl.robot_torque_enable("group", "arm", True) - bot.dxl.robot_torque_enable("single", "gripper", True) \ No newline at end of file + bot.dxl.robot_torque_enable("single", "gripper", True) + + @staticmethod + def get_arm_joint_positions(bot): + return bot.arm.core.joint_states.position[:6] + + @staticmethod + def move_arms(bot_list, target_pose_list, move_time=1): + num_steps = int(move_time / DT) + curr_pose_list = [Utils.get_arm_joint_positions(bot) for bot in bot_list] + traj_list = [np.linspace(curr_pose, target_pose, num_steps) for curr_pose, target_pose in zip(curr_pose_list, target_pose_list)] + for t in range(num_steps): + for bot_id, bot in enumerate(bot_list): + bot.arm.set_joint_positions(traj_list[bot_id][t], blocking=False) + time.sleep(DT) diff --git a/var.py b/var.py new file mode 100755 index 0000000..516f766 --- /dev/null +++ b/var.py @@ -0,0 +1,34 @@ + +import numpy as np + +GRIPPER_JOINT_OPEN = 1.4910 +GRIPPER_JOINT_CLOSE = 0.4 + + + +TARGETS = { + 'cucu1': {'position': {'x': 0.35, 'y': 0.055, 'z': 0.54}, 'initial_pose': {'x': 0.2, 'y': 0, 'z': 0.6}}, + 'cucu2': {'position': {'x': 0.32, 'y': -0.01, 'z': 0.7}, 'initial_pose': {'x': 0.2, 'y': 0, 'z': 0.67}}, + 'cucu3': {'position': {'x': 0.34, 'y': 0, 'z': 0.37}, 'initial_pose': {'x': 0.15, 'y': 0, 'z': 0.35}}, + 'cucu4': {'position': {'x': 0.32, 'y': 0, 'z': 0.7}, 'initial_pose': {'x': 0.15, 'y': 0, 'z': 0.6}}, + 'cucu5': {'position': {'x': 0.37, 'y': -0.03, 'z': 0.37}, 'initial_pose': {'x': 0.15, 'y': 0, 'z': 0.35}}, + 'cucu6': {'position': {'x': 0.32, 'y': -0.02, 'z': 0.7}, 'initial_pose': {'x': 0.2, 'y': 0, 'z': 0.6}}, + 'cucu7': {'position': {'x': 0.37, 'y': -0.03, 'z': 0.37}, 'initial_pose': {'x': 0.15, 'y': 0, 'z': 0.35}}, + 'cucu8': {'position': {'x': 0.34, 'y': -0.03, 'z': 0.55}, 'initial_pose': {'x': 0.2, 'y': 0, 'z': 0.5}}, + 'cucu9': {'position': {'x': 0.37, 'y': -0.04, 'z': 0.28}, 'initial_pose': {'x': 0.2, 'y': 0, 'z': 0.3}}, +} + + +MODEL_PATH = "/home/dexweaver/Github/cucumber-harvesting/object_detection/runs/detect/train2/weights/best.pt" + + +COLOUR_IMAGE_TOPIC = '/camera/color/image_raw' + +DEPTH_IMAGE_TOPIC = '/camera/depth/image_rect_raw' + + +INTRINSIC = np.array([[605.9666137695312, 0.0, 322.66650390625], + [ 0.0, 605.8338623046875, 248.94570922851562], + [ 0.0, 0.0, 1.0]]) + +THR = 100000 \ No newline at end of file