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Trash vs Recycling

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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
This commit is contained in:
Sravan Balaji
2020-04-26 23:09:16 -04:00
parent b761daf3b3
commit d7015b655c
3 changed files with 18 additions and 23 deletions
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7
docker_env/gear/Dockerfile
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@@ -57,9 +57,8 @@ RUN pip3 install -U \
numpy \ numpy \
torch \ torch \
torchvision \ torchvision \
Pillow Pillow \
pyyaml \
RUN pip3 install pyyaml rospkg
RUN pip3 install rospkg
CMD ["/bin/bash"] CMD ["/bin/bash"]

22
src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp
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@@ -155,23 +155,19 @@ private:
ros::ServiceClient conveyor_pub; ros::ServiceClient conveyor_pub;
ros::Publisher arm_destination_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 destination(const std::string &type) const
{ {
Position pos; Position pos;
float z = 1;
if (type == "cardboard") if(type == "trash") {
pos = Position(-0.3, -1.916, z); pos = trash_bin;
else if (type == "glass") }
pos = Position(-0.3, -1.15, z); else {
else if (type == "metal") pos = recycle_bin;
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);
return pos; return pos;
} }

10
src/rrrobot_ws/world/gear.py
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@@ -113,12 +113,12 @@ bin_depth = 0.6
bin_height = 0.72 bin_height = 0.72
bin_angle = 0.0 bin_angle = 0.0
default_bin_origins = { default_bin_origins = {
'bin1': [-0.3, -1.916, 0], # 'bin1': [-0.3, -1.916, 0],
'bin2': [-0.3, -1.15, 0], # 'bin2': [-0.3, -1.15, 0],
'bin3': [-0.3, -0.383, 0], # 'bin3': [-0.3, -0.383, 0],
'bin4': [-0.3, 0.383, 0], 'bin4': [-0.3, 0.383, 0],
'bin5': [-0.3, 1.15, 0], 'bin5': [-0.3, 1.15, 0],
'bin6': [-0.3, 1.916, 0], # 'bin6': [-0.3, 1.916, 0],
} }
configurable_options = { configurable_options = {
@@ -135,7 +135,7 @@ configurable_options = {
'visualize_sensor_views': False, 'visualize_sensor_views': False,
'visualize_drop_regions': 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 max_count_per_model = 30 # limit on the number of instances of each model type
def initialize_model_id_mappings(random_seed=None): def initialize_model_id_mappings(random_seed=None):