README.md

# PickSim

PickSim is a gazebo-based pipeline to generate synthetic data. 

## Getting started

Picksim can easily be downloaded and tested trought a docker container at the link : https://hub.docker.com/repository/docker/guillaume0477/picksim/general or with the command "docker pull guillaume0477/picksim:v0.1" . 


To make it easy for you to get started with PickSim, here's a list of recommended steps to generate example of data of the dataset FruitBin. 

## Run the docker containner 

To run the docker container : 
```
docker run -it --rm --device /dev/dri:/dev/dri --user gduret --gpus all -e DISPLAY=$DISPLAY -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all --mount type=bind,source=/home/gduret/dataset_host,target=/dataset  -v /tmp/.X11-unix:/tmp/.X11-unix:rw guillaume0477/picksim:v0.1
```

## Preprocess 

The first command command is used to download assets of fruits
```
roslaunch dataset install.launch name:=objects version:=default
```

The second command is used to process the raw meshes to get sdf files for the gazebo simaultion until the statement : "[s2rg/blender-1] process has finished cleanly". 
```
roslaunch dataset generate.launch name:=objects version:=optimized k_loop:=0
```

The following command is used to randomize the scene and generate at the last step world files of each scenes with all different lights. The statement "[s2rg/blender-1] process has finished cleanly" allow to be sure that everithing has done successfully. 
```
roslaunch dataset generate.launch name:=s2rg version:=Fruits_all_medium k_loop:=0

```

/opt/learn-real/ros/melodic/integration/src/s2rg/config/version/generator/Fruits_all_medium.yaml
can be modify to change the number of scene generated. 


## Recording

The record command uses the pregenerated world file to record the camera data for the scenes 1 to 5
```
roslaunch dataset record.launch name:=s2rg version:=Fruits_all_medium begin:="0" end:="5"
```
It tould take some time to generate until the program reach the stateement : [s2rg/recorder-2] process has finished cleanly

For more personalisation, /opt/learn-real/ros/melodic/integration/src/s2rg/config/recorder.yaml
allow to change the moment when the record is effectued and which features have to be recorded, it implicitly control how many images are recorded in the scene. 


## Visualization

To visualize the dataset in rviz the command is : 
```
roslaunch dataset read.launch name:=s2rg version:=Fruits_all_medium
```

## Other scenes


Fruits_all_medium can be replaced to get other scene arangement as : "Fruits_apple_bin.yaml", "Fruits_apricot_bin.yaml", "Fruits_banana_bin.yaml", "Fruits_cherry_bin.yaml", "Fruits_kiwi_bin.yaml", "Fruits_lemon_bin.yaml", "Fruits_orange_bin.yaml", "Fruits_peach_bin.yaml", "Fruits_pear_bin.yaml"

Scenes with ycb objects can be generated with the commands : 

```
roslaunch dataset install.launch name:=ycb version:=retopology
roslaunch dataset generate.launch name:=ycb version:=standard k_loop:=0
roslaunch dataset generate.launch name:=s2rg version:=ycb_retopology k_loop:=0
roslaunch dataset record.launch name:=s2rg version:=ycb_retopology begin:="0" end:="5"
```


## Roadmap

PickSim is accessble by docker to be easier to install and test. The source files will be added as soon as possible in this repo. 

## License