From d7015b655cffa005acf317d0cf579c84935efbf3 Mon Sep 17 00:00:00 2001
From: Sravan Balaji <balajsra@umich.edu>
Date: Sun, 26 Apr 2020 23:09:16 -0400
Subject: [PATCH] Trash vs Recycling

Co-authored-by: dwitcpa <dwitcpa@umich.edu>

- Combine pip3 install commands in Dockerfile
- Add positions for trash and recycling bins
- Classification is now just trash vs recycling
- Remove extra bins, so we only have 2
- Increase default time limit to 10 minutes
---
 docker_env/gear/Dockerfile                    |  7 +++---
 .../src/rrrobot/src/rrrobot_node.cpp          | 24 ++++++++-----------
 src/rrrobot_ws/world/gear.py                  | 10 ++++----
 3 files changed, 18 insertions(+), 23 deletions(-)

diff --git a/docker_env/gear/Dockerfile b/docker_env/gear/Dockerfile
index 7391995..47e828b 100644
--- a/docker_env/gear/Dockerfile
+++ b/docker_env/gear/Dockerfile
@@ -57,9 +57,8 @@ RUN pip3 install -U \
         numpy \
         torch \
         torchvision \
-        Pillow
-
-RUN pip3 install pyyaml
-RUN pip3 install rospkg
+        Pillow \
+        pyyaml \
+        rospkg
 
 CMD ["/bin/bash"]
diff --git a/src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp b/src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp
index ecc9e1c..4a2931c 100644
--- a/src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp
+++ b/src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp
@@ -155,23 +155,19 @@ private:
 	ros::ServiceClient conveyor_pub;
 	ros::Publisher arm_destination_pub;
 
+	Position trash_bin = Position(-0.3, 0.383, 1);
+	Position recycle_bin = Position(-0.3, 1.15, 1);
+
 	Position destination(const std::string &type) const
 	{
 		Position pos;
-		float z = 1;
-
-		if (type == "cardboard")
-			pos = Position(-0.3, -1.916, z);
-		else if (type == "glass")
-			pos = Position(-0.3, -1.15, z);
-		else if (type == "metal")
-			pos = Position(-0.3, -0.383, z);
-		else if (type == "paper")
-			pos = Position(-0.3, 0.383, z);
-		else if (type == "plastic")
-			pos = Position(-0.3, 1.15, z);
-		else if (type == "trash")
-			pos = Position(-0.3, 1.916, z);
+		
+		if(type == "trash") {
+			pos = trash_bin;
+		}
+		else {
+			pos = recycle_bin;
+		}
 
 		return pos;
 	}
diff --git a/src/rrrobot_ws/world/gear.py b/src/rrrobot_ws/world/gear.py
index bb4fcd6..29a73ce 100644
--- a/src/rrrobot_ws/world/gear.py
+++ b/src/rrrobot_ws/world/gear.py
@@ -113,12 +113,12 @@ bin_depth = 0.6
 bin_height = 0.72
 bin_angle = 0.0
 default_bin_origins = {
-    'bin1': [-0.3, -1.916, 0],
-    'bin2': [-0.3, -1.15, 0],
-    'bin3': [-0.3, -0.383, 0],
+    # 'bin1': [-0.3, -1.916, 0],
+    # 'bin2': [-0.3, -1.15, 0],
+    # 'bin3': [-0.3, -0.383, 0],
     'bin4': [-0.3, 0.383, 0],
     'bin5': [-0.3, 1.15, 0],
-    'bin6': [-0.3, 1.916, 0],
+    # 'bin6': [-0.3, 1.916, 0],
 }
 
 configurable_options = {
@@ -135,7 +135,7 @@ configurable_options = {
     'visualize_sensor_views': False,
     'visualize_drop_regions': False,
 }
-default_time_limit = 500  # seconds
+default_time_limit = 600  # seconds
 max_count_per_model = 30  # limit on the number of instances of each model type
 
 def initialize_model_id_mappings(random_seed=None):