From f2816e38e90b5da40d8271aff263f058eda9e40b Mon Sep 17 00:00:00 2001 From: Guillaume Duret <guillaume.duret@ec-lyon.fr> Date: Tue, 13 Jun 2023 22:08:41 +0000 Subject: [PATCH] first readme --- README.md | 103 ++++++++++++++++++++++++------------------------------ 1 file changed, 46 insertions(+), 57 deletions(-) diff --git a/README.md b/README.md index ae3a4c6..59975a5 100644 --- a/README.md +++ b/README.md @@ -1,92 +1,81 @@ # PickSim - +PickSim is a gazebo-based pipeline to generate synthetic data. ## Getting started -To make it easy for you to get started with GitLab, here's a list of recommended next steps. +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" . -Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)! -## Add your files +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. -- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files -- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command: +## Run the docker containner +To run the docker container : ``` -cd existing_repo -git remote add origin https://gitlab.liris.cnrs.fr/gduret/PickSim.git -git branch -M main -git push -uf origin main +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 ``` -## Integrate with your tools - -- [ ] [Set up project integrations](https://gitlab.liris.cnrs.fr/gduret/PickSim/-/settings/integrations) - -## Collaborate with your team +## Preprocess -- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/) -- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html) -- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically) -- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/) -- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html) +The first command command is used to download assets of fruits +``` +roslaunch dataset install.launch name:=objects version:=default +``` -## Test and Deploy +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 +``` -Use the built-in continuous integration in GitLab. +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 -- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html) -- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/) -- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html) -- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/) -- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html) +``` -*** +/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. -# Editing this README -When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template. +## Recording -## Suggestions for a good README -Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information. +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 -## Name -Choose a self-explaining name for your project. +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. -## Description -Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors. -## Badges -On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge. +## Visualization -## Visuals -Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method. +To visualize the dataset in rviz the command is : +``` +roslaunch dataset read.launch name:=s2rg version:=Fruits_all_medium +``` -## Installation -Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection. +## Other scenes -## Usage -Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README. -## Support -Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc. +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" -## Roadmap -If you have ideas for releases in the future, it is a good idea to list them in the README. +Scenes with ycb objects can be generated with the commands : -## Contributing -State if you are open to contributions and what your requirements are for accepting them. +``` +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" +``` -For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self. -You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser. +## Roadmap -## Authors and acknowledgment -Show your appreciation to those who have contributed to the project. +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 -For open source projects, say how it is licensed. -## Project status -If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers. + -- GitLab