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Server

Setup

The following steps should be run on the workstation:

  1. Clone this repository:

    git clone https://github.com/jimmyyhwu/tidybot.git

  2. Set up a Conda environment called tidybot:

    conda create -n tidybot python=3.9.12
conda activate tidybot
conda install numpy==1.23.1
conda install pytorch==1.12.1=py3.9_cuda11.3_cudnn8.3.2_0 cudatoolkit=11.3 -c pytorch
pip install -r requirements.txt
cd shortest_paths
python setup.py build_ext --inplace

  3. Set up a second Conda environment called vild for the object detection server (which runs ViLD and CLIP):

    conda create -n vild python=3.9.12
conda activate vild
conda install cudatoolkit=11.2 cudnn=8.1.0 -c conda-forge
pip install numpy==1.23.1 scipy==1.9.1 pycocotools==2.0.5 lvis==0.5.3 opencv-contrib-python==4.6.0.66 Pillow==9.2.0 google-auth==2.10.0
pip install torch==1.12.1+cu113 torchvision==0.13.1+cu113 --extra-index-url https://download.pytorch.org/whl/cu113
pip install git+https://github.com/openai/CLIP.git
pip install tensorflow==2.9.2
pip install gsutil==5.14 easydict==1.10 pyyaml==6.0 jupyter==1.0.0

  4. Enable access to the overhead cameras:

    sudo cp 99-webcam.rules /etc/udev/rules.d/99-webcam.rules
sudo udevadm control --reload-rules
sudo service udev restart
sudo udevadm trigger

  5. Get the serial numbers of the two overhead cameras using either of the following commands:

    lsusb -v -d 046d:0843 | grep iSerial
udevadm info -n video0 | grep ID_SERIAL_SHORT

  6. Modify constants.py to reflect your setup. These values may potentially need to be modified:

    • ROBOT_HOSTNAME_PREFIX
    • CAMERA_SERIALS
    • CAMERA_HEIGHT
    • ROBOT_WIDTH
    • ROBOT_HEIGHT
    • ROBOT_DIAG

Usage

The following sections describe the process of setting up marker detection and object detection from scratch. To get started with a setup that already works, see the "TidyBot Quickstart" section of the main README.

We use two ceiling-mounted overhead cameras to detect fiducial markers installed on robots in the scene to get real-time 2D robot poses with centimeter-level precision. The camera we use is the Logitech C930e webcam. Note that even though the C930e supports 1080p, we run it at 720p, as we found that 720p is faster and was sufficient to get centimeter-level accuracy.

The code uses the serial number of your camera as an identifier for cv.VideoCapture and for saving and loading camera parameters.

Camera Calibration

In order to do accurate marker detection, the cameras need to be calibrated for intrinsics. We use the ChArUco board to calibrate our cameras. You can generate a printable ChArUco board using the following command, which outputs a PDF file to printouts/charuco-board.pdf.

python create_charuco_board.py

After printing, be sure to check that the squares are actually 24 mm wide, as some printers will rescale the document.

To run calibration, we provide a script based on the official example. Run the following command, replacing <serial> with your camera's serial:

python calibrate_charuco.py --serial <serial>

It is important that the ChArUco board be kept as flat as possible (by using a clipboard, for example). After calibration, the computed camera parameters will be saved to a config file in camera_params.

For more information on camera calibration with ChArUco boards, please see the official tutorial. You may also find this list (backup here) of calibration best practices to be helpful.

Marker Detection

To create printable markers for the 3 mobile bases, run the following command, which will generate printable markers at printouts/markers.pdf.

python create_markers.py

The printout contains 4 markers per mobile base for a total of 12 markers. The 12 marker IDs used were empirically found to be the most easily detected among the set of all markers in cv.aruco.DICT_4X4_50.

As with the ChArUco board, be sure to measure the printed markers in case the document was rescaled during printing. The markers should be exactly 90 mm wide.

The detect_markers.py script (see tutorial) will detect markers visible in the camera image, and is useful for verifying marker IDs and marker orientations. To use it, run the following command, again replacing <serial> with your camera's serial:

python detect_markers.py --serial <serial>

Here are examples of what detect_markers.py might detect from the overhead images:

Camera Alignment

Our marker detection setup is capable of detecting 2D robot poses with centimeter-level precision. However, it is very important that the overhead cameras are set up and aligned correctly. Otherwise, the accuracy may suffer.

We use the following 3D-printed parts from the stl directory to mount the overhead cameras:

We mount the cameras such that they each cover half of the floor space. Here are some photos of what our cameras look like when mounted:

Once the cameras are mounted, the camera_alignment.py script can be used to annotate the corners of the floor work area in image coordinates. The annotated corners are used to map coordinates between image space and physical space. In our setup, we used a 6x7 grid of floor tiles as our work area.

To run camera alignment for a newly mounted camera, run the following command to start the annotation interface:

python camera_alignment.py --serial <serial>

Inside the annotation interface, select the corners of the work area by double clicking on the corresponding pixels. To make this process easier, we recommend applying 24 mm squares of tape to make the corners more visible, and then zooming in within the annotation interface:

Note that the cameras move slightly when first turned on and stabilize after around 10 minutes of use, so it is best to "warm up" the cameras before doing camera alignment by running them for at least 10 minutes.

Here are examples of what the images look like when the cameras are first turned on:

Notice that the top left corner in particular looks very far from the red annotated position.

Here are what the images look like after the cameras have been running for 10 minutes:

Notice that all the corners match up with their annotations now.

Note that it should not be necessary to rerun camera alignment unless the cameras are physically moved or bumped.

To validate the camera alignment, run this command to start up a camera server for each camera:

python start_camera_servers.py

Then, in a different terminal, run this command to start an image client that uses the annotated corners to perform perspective correction:

python image_client.py

The image shown in the client should look like this:

In particular, if the corners were accurately annotated, then the image would show a 6x7 grid of floor tiles with no perspective distortion.

After annotating the corners of the work area, we also need to annotate the camera center in image coordinates. This is used to calculate a correction when estimating the position of the mobile bases, since their markers are mounted at a height of 32.5 cm above the floor. The camera center is the location in the image where the principal axis of the camera intersects the floor. To label this location with a piece of tape, we used a RoboVector 5 Beam Self-Leveling Laser, which can find the point on the ground directly below the camera:

After labeling the camera center point on the floor, we run the same script again but this time with the --center flag:

python camera_alignment.py --serial <serial> --center

The large green circle is for reference only and marks the image center. Double click on the camera center to annotate it with a red circle. A correctly annotated camera center should look like this:

Robot Marker Detection

Since the Kinova arm on the mobile base can occlude fiducial markers installed on the top plate, we opt to use 4 markers instead of 1. We then estimate the 2D pose of each mobile base by aggregating predictions from the non-occluded markers.

Here are the marker IDs used for each of the mobile bases:

  • Mobile base #1: 10, 13, 17, 21
  • Mobile base #2: 23, 30, 37, 41
  • Mobile base #3: 42, 45, 48, 49

See this image for marker placement:

The markers are placed by first orienting the mobile base with positive x pointing right and then installing the markers in ID order starting from the top left and going clockwise. It is important that the markers are placed as accurately as possible.

To run marker detection, first start the marker detector server:

python marker_detector_server.py

Then, in a separate terminal, start the marker detector client:

python marker_detector_client.py

The visualization of estimated robot poses should look like this:

The grid in the visualization corresponds with the actual tiles on the floor. Note that the positive x-direction for the mobile base is 180 degrees opposite that of the arm.

For additional debugging visualization, enable the --debug flag:

python marker_detector_server.py --debug
python marker_detector_client.py --debug

The debugging visualization shows the 4 individual marker poses, each with an offset towards the robot center:

Object Detection

The object detector server should be run using the vild Conda environment:

conda activate vild
python object_detector_server.py

This server takes in input images and runs either ViLD or CLIP on them.

In a separate terminal, start the object detector client:

python object_detector_client.py

This client will capture overhead images and send them to the server.

To visualize the object detections, use the --debug flag:

python object_detector_server.py --debug

This should show an object detection visualization that looks like this:

We can also visualize CLIP predictions on robot egocentric images. On the mobile base computer, start a camera server with camera.py:

python camera.py

Then, on the workstation, launch the camera client (robot_camera_client.py) to view the live image feed:

python robot_camera_client.py --robot-num <robot-num>

The robot_camera_client.py script (running on the workstation) will forward the received images from the robot to the object detector server.

With --debug enabled, the CLIP prediction should look like this:

LLM Summarization

To run the LLM pipeline for generating summarized preferences from examples, see the summarization.ipynb notebook. This pipeline can be used to generate receptacle selection and primitive selection rules (preferences) for new scenarios.