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…k handling > Created a new state to handle shelf pick using pregrasp planner instead of MoveIt. Created a new ros param to toggle orientation independent IK for shelf pick. Co-authored-by: MannavaVivek <vivekmannava@gmail.com> Co-authored-by: kvnptl <kevinpatel4400@gmail.com>
This change introduces a toggle in the orientation-independent IK for shelf pick. It limits the pitch range to between -15.0 and -45.0 degrees. Co-authored-by: MannavaVivek <vivekmannava@gmail.com> Co-authored-by: kvnptl <kevinpatel4400@gmail.com>
added 11 commits
September 5, 2025 16:55
mhwasil
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Sep 19, 2025
| model_dir = rospy.get_param("/mir_perception/multimodal_object_recognition/recognizer/rgb/rtt_detector/model_dir") | ||
| weights = os.path.join(roslib.packages.get_pkg_dir("mir_rgb_object_recognition_models"), | ||
| 'common', 'models', classifier_name, dataset, "atwork.pt") | ||
| 'common', 'models', classifier_name, dataset, "atwork_obb.pt") |
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parameterize the model name atwork_obb.pt
| self.pub_debug = rospy.Publisher("/mir_perception/multimodal_object_recognition/recognizer/rgb/output/rtt_debug_image", Image, queue_size=1) | ||
| self.pub_debug = rospy.Publisher("/mir_perception/multimodal_object_recognition/recognizer/rgb/output/debug_image", Image, queue_size=1) | ||
| self.pub_pose = rospy.Publisher("/mir_perception/mir_rtt_detector/predicted_object_pose", PoseStamped, queue_size=1) | ||
| self.pub_cropped_pc = rospy.Publisher("rtt/output/cropped_pc", PointCloud2, queue_size=1) |
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add mir_perception/multimodal_object_recognition name space
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mhwasil
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mhwasil,
gokulkchenchani,
AnudeepSajja,
Chaitanya-Gumudala-1710 and
Akhilan-xd and unassigned
mhwasil
mhwasil
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change the file name to the corresponding competition e.g., 2025_brazil_finals.pddl
| objects.append(result) | ||
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| if self.debug: | ||
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mhwasil
reviewed
Sep 19, 2025
| self.grasp_type.publish(grasp_type) | ||
| pose_samples = self.pose_generator.calculate_poses_list(modified_pose) | ||
| self.pose_samples_pub.publish(pose_samples) | ||
| # self.original_pose_pub.publish(modified_pose) |
mhwasil
reviewed
Sep 19, 2025
| <launch> | ||
| <!-- Launch the empty space detector node --> | ||
| <node name="empty_space_detector" pkg="mir_empty_space_prediction" type="emptyspace_prediction_node.py" output="screen"> | ||
| <!-- You can add parameters here if needed --> |
mhwasil
reviewed
Sep 19, 2025
| <!-- <param name="param_name" value="param_value" /> --> | ||
| </node> | ||
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| <!-- You can include other launch files or start other nodes here if needed --> |
mhwasil
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@gokulkchenchani and @AnudeepSajja please address the review and push the updates to brsu-youbot robobup2025 branch
| self.roi = (roi['x_min'], roi['x_max'], roi['y_min'], roi['y_max']) | ||
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| # self.roi = (roi_params['x_min'], roi_params['x_max'], roi_params['y_min'], roi_params['y_max']) |
| geometry_msgs | ||
| mir_object_segmentation | ||
| mir_perception_utils | ||
| mediapipe |
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is this a ros pkg or Python?
if it's Python dep, add the pip install here
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this is not used anywhere in the code, remove this config if not needed
| <param name="debug_mode" value="$(arg debug_mode)" type="bool" /> | ||
| <param name="dataset_collection" value="true" /> | ||
| <param name="logdir" value="/tmp/" /> | ||
| <param name="logdir" value="/home/robocup/perception_debugs/" /> |
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as per Santosh review #325, this will not work on other machine, use /tmp as default
| rospy.loginfo(f"\033[92m" + f"[RGB Recognizer] object category {obj_category}" + f"\033[0m") | ||
| if obj_category == "cavity": | ||
| # # Uncomment to run segmention model | ||
| # preds = predictions[0] |
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just for rviz, this can be removed
| <!-- upload domain args - pddl problem that will be loaded as instrinsic knowledge --> | ||
| <!-- upload domain args - pddl problem that will be loaded as instrinsic knowledge --> | ||
| <arg name="yb_intrinsic_knowledge" default="$(arg base_path)/minimum_required_facts.pddl" /> | ||
| <!-- <arg name="yb_intrinsic_knowledge" default="$(arg base_path)/mini_bmt_demo_copy.pddl" /> --> |
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RoboCup 2024