zhyma / robot_wrapping

Need to setup:

• Trac-IK: sudo apt-get install ros-noetic-trac-ik
• RealSense (librealsense)
• ar_track_alvar
• yumi(fork from kth-ros-pkg. Please use bimanual_rws branch)
• ariadne_plus(fork from lar-unibo/ariadne_plus, using the same trained model. Please select coil_dev branch, with srv file modified)
  • pip3 install arrow termcolor igraph scikit-image pytorch-lightning==1.7.1 torch==1.8.2 torchvision==0.9.2 torchaudio==0.8.2 --extra-index-url https://download.pytorch.org/whl/lts/1.8/cpu

To run the package

• Use roslaunch rope_wrapping demo.launch
• Run python config.py to get the rod and the rope's estimation
• Run python wrapping.py to start wrapping process.

Saved file format:

• Rod's information is saved to rod_info.pickle.
• Rope's information is saved to rope_info.pickle.
• save/log.txt: advance, R, L', extra notes
• save/param.txt:
  • line1: adv_s, r_s, lp_s. "s" stands for "stable parameters that works."
  • line2: adv_n, r_n, lp_n. "n" stands for "next parameters that shoulb be tested."
  • line3: last_adv_fb, last_len_fb. As the name suggested.
  • line4: [r is stable?, adv is stable?]