Meb/dev

.gitignore

@@ -1,3 +1,16 @@
 __pycache__/
 *.npz
 *.egg-info
+.vscode/c_cpp_properties.json
+.vscode/settings.json
+log/COLCON_IGNORE
+log/latest
+log/latest_list
+log/list_2024-11-15_22-39-05/logger_all.log
+*/build/*
+*/install/*
+*/log/*
+T_cam*
+recordings/*
+cal.yaml
+*/temp/*

README.md

@@ -1,8 +1,20 @@
 # RWR System
 
+
 Welcome to the RWR System repository. This repository contains the code and resources for the RWR class. Please note that there are several TODOs throughout the codebase that need to be addressed. Additionally, some configurations and settings may need to be adjusted to work with your specific setup.
 
-**Disclaimer:** This repository is a work in progress and will be constantly updated and fixed. For any issues or questions, please use Slack to communicate or submit an issue on GitHub.
+# Our Code Implemenations
+
+1. Retargeting Visualization for Rokoko rosbag recordings
+    ```bash
+   ros2 launch experiments rosbag_retargeting_rviz_orca.launch.py 
+    ```
+
+2. Live Retargeting Visualization of Rokoko or MediaPipe
+    ```bash
+   ros2 launch experiments retargeting_rviz_orca.launch.py
+    ```
+
 
 ## Getting Started
 
@@ -15,25 +27,35 @@ To get started with the RWR System, follow these steps:
 2. Clone the repository inside the `src` directory of your ROS 2 workspace:
     ```bash
     cd ~/ros2_ws/src
-    git clone https://github.com/yourusername/rwr_system.git
+    git clone git@github.com:DexterousDynamos/rwr_system.git
     ```
 3. Navigate to the project directory:
     ```bash
     cd rwr_system
     ```
 
-    4. Activate your ROS 2 environment (assuming you are using mamba):
+    4. Create and Activate your ROS 2 environment.
         ```bash
-        mamba activate ros2 
+        mamba create -n rwr_system python=3.10
+        mamba activate rwr_system
+
+        # this adds the conda-forge channel to the new created environment configuration 
+        conda config --env --add channels conda-forge
+        # and the robostack channel
+        conda config --env --add channels robostack-staging
+        # remove the defaults channel just in case, this might return an error if it is not in the list which is ok
+        conda config --env --remove channels defaults
+
+        mamba install ros-humble-desktop
         ```
 
-        If you don't have a ROS 2 environment, follow this guide: [Getting Started with RoboStack](https://robostack.github.io/GettingStarted.html)
+        For more detailed information, follow this guide: [Getting Started with RoboStack](https://robostack.github.io/GettingStarted.html)
 
-    5. Install the necessary dependencies:
+    6. Install the necessary dependencies:
         ```bash
         pip install -e .[all]
         ```
-        this will install the faive_system package in your enviroment, and all the required dependencies specified in the `project.toml` file 
+        this will install the faive_system package in your enviroment, and all the required dependencies specified in the `pyproject.toml` file 
 
 
 ## Main TODOs for RWR students

experiments/CMakeLists.txt

@@ -37,6 +37,11 @@ install(PROGRAMS
   DESTINATION lib/${PROJECT_NAME}
 )
 
+install(PROGRAMS
+  run_rl_policy.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 
 # install the launch file
 install(DIRECTORY

experiments/cfgs/retargeter_adjustment.yaml

@@ -1,8 +1,20 @@
-thumb: null
-index: null
-middle: null
-ring: null
+thumb: 
+  translation : [0.0, 0.0, 0.0]
+  rotation : [0.0, 0.5, -0.5]
+  scale : [1.0, 1.0, 1.0]
+index:
+  translation : [0.0, 0.0, 0.0]
+  rotation : [0.0, 0.0, -0.2]
+  scale : [1.1, 1.1, 1.1]
+middle:
+  translation : [0.0, 0.0, 0.0]
+  rotation : [0.0, 0.0, 0.0]
+  scale : [1.1, 1.1, 1.1]
+ring:
+  translation : [0.0, 0.0, 0.0]
+  rotation : [0.0, 0.0, 0.0]
+  scale : [1.1, 1.1, 1.1]
 pinky: 
   translation : [0.0, 0.0, 0.0]
   rotation : [0.0, 0.0, 0.0]
-  scale : [1.0, 1.0, 1.0]
+  scale : [1.1, 1.1, 1.1]

experiments/cfgs/retargeter_cfgs_p4.yaml → experiments/cfgs/retargeter_cfgs_orca_v1.yaml

@@ -2,7 +2,7 @@ lr: 2.5
 use_scalar_distance_palm: False
 loss_coeffs: [5.0, 5.0, 5.0, 5.0, 5.0,]
 joint_regularizers:  # tuples (joint_name, zero_value, weight) for regularizing joints to zero
-  - [index_abd_virt, 0,  0.00001]
-  - [middle_abd_virt, 0, 0.00001]
-  - [ring_abd_virt, 0, 0.00001]
-  - [pinky_abd_virt, 0, 0.00001]
+  - [index_abd, 0,  0.000001]
+  - [middle_abd, 0, 0.000001]
+  - [ring_abd, 0, 0.000001]
+  - [pinky_abd, 0, 0.000001]

experiments/launch/accuracy_test.launch.py

@@ -0,0 +1,122 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess, TimerAction
+import os
+from ament_index_python.packages import get_package_share_directory
+from datetime import datetime
+
+# select the cameras to be used
+
+cameras = {"front_view": True, "side_view": True, "wrist_view": True}
+
+
+def generate_launch_description():
+
+    # Define the output directory for the rosbag recordings with a timestamp
+
+    timestamp = datetime.now().strftime('%Y%m%d_%H%M%S')
+    current_dir = os.path.dirname(os.path.abspath(__file__))
+    rosbag_output_dir = os.path.join(current_dir, '..', '..', '..', '..', '..', 'src', 'rwr_system', 'src', 'ingress', 'paper_experiments', 'rosbag_recordings', f'recording_{timestamp}')
+
+    urdf = os.path.join(
+    get_package_share_directory('viz'),
+    "models",
+    "orca_v1",
+    "urdf",
+    "orca_v1.urdf")
+
+    with open(urdf, 'r') as infp:
+        robot_desc = infp.read()
+
+    return LaunchDescription(
+        [
+
+
+
+            # # HAND CONTROLLER NODE
+            # Node(
+            #     package="hand_control",
+            #     executable="hand_control_node.py",
+            #     name="hand_control_node",
+            #     output="screen"
+            # ),
+
+            # OAKD FRAME PUBLISHER NODE   # If program takes ages to load, OAK-D connection probably did not work for some reason.
+            # Node(
+            # package='ingress',
+            # executable='oakd_frame_publisher.py',
+            # name='oakd_frame_publisher',
+            # output='screen'
+            # ),
+
+
+            # ACCURACY TEST NODE
+            Node(
+                package="ingress",
+                executable="accuracy_node.py",
+                name="accuracy_node",
+                output="log",
+                parameters=[
+                    {"motion_duration": 4.0},
+                    {"recalibration_interval": 10.0},
+                    {"flexion_scalar": 0.4},   
+                    {"signal_type": "sweep"},  # Use "step" if you want step signals, "sine" for sign waves
+                    {"start_frequency": 0.1},
+                    {"stop_frequency": 1.0},
+                    {"sweep_duration": 10.0},
+                    {"retarget/hand_scheme": os.path.join(
+                        get_package_share_directory("viz"),
+                        "models",
+                        "orca_v1",
+                        "scheme_orca_v1.yaml",)
+                    },
+                ],
+            ),
+
+
+            # VISUALIZATION NODE
+            Node(
+                package="viz",
+                executable="visualize_joints.py",
+                name="visualize_joints",
+                parameters=[
+                    {
+                        "scheme_path": os.path.join(
+                            get_package_share_directory("viz"),
+                            "models",
+                            "orca_v1",
+                            "scheme_orca_v1.yaml",
+                        )
+                    }
+                ],
+                output="screen",
+            ),
+
+            Node(
+                package='robot_state_publisher',
+                executable='robot_state_publisher',
+                name='robot_state_publisher',
+                output='screen',
+                parameters=[{'robot_description': robot_desc,}],
+                arguments=[urdf]),
+
+            Node(
+                package='rviz2',
+                executable='rviz2',
+                name='rviz2',
+                output='screen', 
+                arguments=['-d', os.path.join(get_package_share_directory('viz'), 'rviz', 'retarget_config_orca_v1.rviz')],
+                ),
+
+            # Node to start recording OAK-D camera frames and commanded angles to a rosbag with a delay
+            TimerAction(
+                period=5.0,  # Delay in seconds
+                actions=[
+                    ExecuteProcess(
+                        cmd=['ros2', 'bag', 'record', '--output', rosbag_output_dir, 'image_raw', '/hand/policy_output'],
+                        output='screen'
+                    )
+                ]
+            )
+        ]
+    )