ivalab · acmiyaguchi · Sep 11, 2022 · Sep 26, 2022 · Sep 26, 2022 · Sep 26, 2022
diff --git a/.gitignore b/.gitignore
@@ -1,2 +1,4 @@
 dataset/DEPTH_image/
 dataset/RGB_image/
+# emacs files
+*~
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,11 +2,16 @@ cmake_minimum_required(VERSION 2.8.3)
 
 project(robotic_gazebo)
 
-find_package(catkin REQUIRED COMPONENTS rospy)
+find_package(catkin REQUIRED COMPONENTS)
 
-catkin_package()
-
-find_package(roslaunch)
+catkin_package(
+	CATKIN_DEPENDS
+		roslaunch
+		rospy
+		gazebo_ros
+		edy_dualarm_description
+		warehouse
+)
 
 foreach(dir launch src)
 	install(DIRECTORY ${dir}/

diff --git a/README.md b/README.md
@@ -1,91 +1,80 @@
 # simData_imgSaver
-ros package for saving simulation images in Gazebo with Kinect 
 
+ros package for saving simulation images in Gazebo with Kinect.
 
 ### Get the package
 
 ```
 cd ~/catkin_ws/src/
+
+# clone this repo
 git clone https://github.com/ivalab/simData_imgSaver.git
-cd ..
-catkin_make
-```
 
-### Clone the simData
-```
-cd ~/catkin_ws/src/
-git clone https://github.com/ivalab/simData.git 
-```
-rename the `/3Dwarehouse/tools` to `/warehouse/models` 
+# make sure to clone dependencies too
+git clone https://github.com/ivalab/simData.git
+git clone https://github.com/ivaROS/ivaEdy.git
 
-### Preprocess data
-in `utils/move_model_files.m`
-modify the `dataRoot`
-```
-dataRoot = '/home/YOUR/PATH/TO/catkin_ws/src/simData_v2/warehouse/models';
+cd ..
+catkin_make
 ```
-run `move_model_files.m` in MATLAB
 
-### Copy models
-copy all models to `/home/YOURNAME/.gazebo/models/`
-
-NOTE:   
-you can add `export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/home/YOUR/PATH/TO/catkin_ws/src/simData_v2/warehouse/` in `~/.bashrc` 
-then you can might skip this step    
-but change line 34:
-```
-fprintf(fsdf, ['            <uri>file://models/' FolderName '/mesh/' filename '.dae</uri>\n']);
-```
+The [simData](https://github.com/ivalab/simData.git) package will generate the relevant model files and expose them to gazebo.
 
 ### Open Gazebo
+
 ```
 rosrun gazebo_ros gazebo
 ```
 
 ### Run imgSaver with object
-in `visuomotor_grasp_3D_Box.py`    
-modify `MODEL_DIR` to `/home/YOUR/PATH/TO/catkin_ws/src/simData_v2/warehouse/models`
+
 ```
 python visuomotor_grasp_3D_Box.py
 ```
+
 the files will be saved to `/dataset`
 
 ### Run imgSaver with affordance
-in `visuomotor_grasp_3D_Box_affordance.py`    
-modify `MODEL_DIR` to `/home/YOUR/PATH/TO/catkin_ws/src/simData_v2/warehouse/models`
+
 ```
 python visuomotor_grasp_3D_Box_affordance.py
 ```
-it loads corresponding affordance .dae files with dark table and highlight the affordance with specific color   
+
+it loads corresponding affordance .dae files with dark table and highlight the affordance with specific color
 the files will be saved to `/dataset`
 
 ### Remove shadow effect
-When saving affordance images, the light source causes shadow and affects the color. The light source is not loadable in code (at lease in older version of Gazebo). One quick and effective solution is to add multiple light sources in Gazebo with GUI. 
+
+When saving affordance images, the light source causes shadow and affects the color. The light source is not loadable in code (at lease in older version of Gazebo). One quick and effective solution is to add multiple light sources in Gazebo with GUI.
 
 <img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/lightSource.png" height="30">
 
-Click on the parallel light source and select a location to place, and click on the icon again to turn it on. Also for tall object such as large mug, it is useful to also put several all-directional light source in front of the object.  
+Click on the parallel light source and select a location to place, and click on the icon again to turn it on. Also for tall object such as large mug, it is useful to also put several all-directional light source in front of the object.
 
 ### Process real data
-To generate bonding boxes for UMD dataset, put `simData_imgSaver/utils/boundingBoxGenerator.m` in `YOUR/PATH/TO/UMD_affordance/part-affordance-dataset/` and run the script. 
+
+To generate bonding boxes for UMD dataset, put `simData_imgSaver/utils/boundingBoxGenerator.m` in `YOUR/PATH/TO/UMD_affordance/part-affordance-dataset/` and run the script.
 
 We segment the blue lazy Susan table and binarize the output to get the bounding boxes in HSV space. You can modify the value to adjust to your case.
+
 ```
-hsv(:,:,3) > INTENSITY_T; % filter out black color  
-hsv(:,:,2) > 0.33; % filter out white color 
+hsv(:,:,3) > INTENSITY_T; % filter out black color
+hsv(:,:,2) > 0.33; % filter out white color
 ```
-Real data with bounding box  
-<img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/seg_hammer_01_00000007_rgb.jpg" height="360">  
-Sim data   
-<img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/hammer_01_7.png" height="360">  
-Sim data with bounging box  
-<img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/seg_hammer_01_7.png" height="360">  
-Sim data with grasp affordance  
-<img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/hammer_01_gt_1_7.png" height="360">  
-Sim data with hit affordance  
-<img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/hammer_01_gt_5_7.png" height="360">  
+
+Real data with bounding box
+<img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/seg_hammer_01_00000007_rgb.jpg" height="360">
+Sim data
+<img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/hammer_01_7.png" height="360">
+Sim data with bounging box
+<img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/seg_hammer_01_7.png" height="360">
+Sim data with grasp affordance
+<img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/hammer_01_gt_1_7.png" height="360">
+Sim data with hit affordance
+<img src="https://github.com/ivalab/simData_imgSaver/blob/master/imgs/hammer_01_gt_5_7.png" height="360">
 
 ### Citation
+
 If you find it helpful for your research, please consider citing:
 
     @inproceedings{chu2019learning,
@@ -101,6 +90,6 @@ If you find it helpful for your research, please consider citing:
       month = {April}
     }
 
-
 ### Contact
+
 If you encounter any questions, please contact me at fujenchu[at]gatech[dot]edu
diff --git a/launch/load_3d_warehouse.launch b/launch/load_3d_warehouse.launch
@@ -18,17 +18,16 @@
   </include>
 
   <!-- Load the sdf model only the parameter server -->
-  <param name="model_description" textfile="$(find 3D_warehouse)/models/bowl_01/sdf/description.sdf"/>
+  <param name="model_description" textfile="$(find warehouse)/models/bowl_01/sdf/description.sdf"/>
 
   <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
   <node name="model_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
     args="-sdf -x 0 -y 0 -z 0 -param model_description -model bowl"/>
 
   <!-- Load the URDF model only the parameter server -->
-  <param name="robot_description" textfile="$(find finalarm_released_v0)/urdf/finalarm_released_v0_gazebo_positioncontrol.urdf"/>
+  <param name="robot_description" textfile="$(find edy_dualarm_description)/urdf/edy_dualarm_description.urdf"/>
 
   <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
   <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
-    args="-urdf -x -1 -y 0 -z 0.0 -model finalarm_released_v0 -param robot_description
-    "/>
+    args="-urdf -x -1 -y 0 -z 0.0 -model edy_dualarm -param robot_description"/>
 </launch>
diff --git a/launch/load_arm.launch b/launch/load_arm.launch
@@ -19,11 +19,11 @@
   </include>
 
   <!-- Load the URDF model only the parameter server -->
-  <param name="robot_description" textfile="$(find finalarm_released_v0)/urdf/finalarm_released_v0_gazebo_positioncontrol.urdf"/>
+  <param name="robot_description" textfile="$(find edy_dualarm_description)/urdf/edy_dualarm_description.urdf"/>
 
   <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
   <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
-    args="-urdf -x 0 -y 0 -z 0.0 -model finalarm_released_v0 -param robot_description
+    args="-urdf -x 0 -y 0 -z 0.0 -model edy_dualarm -param robot_description
     "/>
 
 </launch>
diff --git a/launch/load_hammer.launch b/launch/load_hammer.launch
@@ -0,0 +1,25 @@
+<launch>
+  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
+  <arg name="paused" default="true" />
+  <arg name="use_sim_time" default="true" />
+  <arg name="gui" default="true" />
+  <arg name="headless" default="false" />
+  <arg name="debug" default="false" />
+  <arg name="world_name" default="worlds/empty.world" />
+
+  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+  <include file="$(find handy_warehouse_demo)/launch/empty_world.launch">
+    <arg name="world_name" value="$(arg world_name)" />
+    <arg name="debug" value="$(arg debug)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="paused" value="$(arg paused)" />
+    <arg name="use_sim_time" value="$(arg use_sim_time)" />
+    <arg name="headless" value="$(arg headless)" />
+  </include>
+
+  <!-- Load the sdf model only the parameter server -->
+  <param name="model_description" textfile="$(find warehouse)/models/hammer_02/sdf/description.sdf" />
+
+  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
+  <node name="model_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-sdf -x 0 -y 0 -z 0 -param model_description -model hammer_02" />
+</launch>
diff --git a/launch/load_obejct.launch → launch/load_object.launch b/launch/load_obejct.launch → launch/load_object.launch
diff --git a/models/kinect_ros/model.sdf b/models/kinect_ros/model.sdf
@@ -1,8 +1,10 @@
-<?xml version="1.0" ?>
-<gazebo version="1.2">
+<?xml version="1.0"?>
+<sdf version="1.4">
   <model name="kinect_ros">
-    <pose>0.5 -0.55 1.05 0 0.8722 1.57</pose>
     <link name="link">
+      <gravity>false</gravity>
+      <pose>0.5 -0.55 1.05 0 0.8722 1.57</pose>
+
       <inertial>
         <mass>0.1</mass>
       </inertial>
@@ -21,9 +23,13 @@
           </mesh>
         </geometry>
       </visual>
+    </link>
 
+    <gazebo reference="link">
       <sensor name="camera" type="depth">
         <update_rate>20</update_rate>
+        <visualize>1</visualize>
+        <always_on>1</always_on>
         <camera>
           <horizontal_fov>1.047198</horizontal_fov>
           <image>
@@ -40,7 +46,7 @@
           <baseline>0.2</baseline>
           <alwaysOn>true</alwaysOn>
           <!-- Keep this zero, update_rate in the parent <sensor> tag
-            will control the frame rate. -->
+          will control the frame rate. -->
           <updateRate>0.0</updateRate>
           <cameraName>camera_ir</cameraName>
           <imageTopicName>/camera/depth/image_raw</imageTopicName>
@@ -62,7 +68,7 @@
           <hackBaseline>0</hackBaseline>
         </plugin>
       </sensor>
-    </link>
+    </gazebo>
     <static>true</static>
   </model>
-</gazebo>
+</sdf>
diff --git a/models/kinect_ros/model.sdf~ b/models/kinect_ros/model.sdf~
diff --git a/models/kinect_ros/model_bak.sdf b/models/kinect_ros/model_bak.sdf
@@ -1,4 +1,4 @@
-<?xml version="1.0" ?>
+<?xml version="1.0"?>
 <sdf version="1.4">
   <model name="kinect_ros">
     <link name="link">
@@ -67,4 +67,4 @@
     </link>
 
   </model>
-</sdf>
+</sdf>