nf-robot 0.1.0__tar.gz

nf_robot-0.1.0/LICENSE

@@ -0,0 +1,201 @@
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nf_robot-0.1.0/MANIFEST.in

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+include README.md
+include LICENSE
+recursive-include src/nf_robot/ui/assets *
+recursive-include src/nf_robot/protos *.proto
+recursive-include src/nf_robot/scripts *.sh
+recursive-include src/nf_robot/ml/models *
+global-exclude *.pyc
+global-exclude pycache

nf_robot-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: nf_robot
+Version: 0.1.0
+Summary: Robot control system for Stringman
+Author-email: Nathaniel Nifong <naavox@gmail.com>
+License: Apache 2.0
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy>=2.0
+Requires-Dist: zeroconf
+Requires-Dist: asyncio
+Requires-Dist: websockets
+Requires-Dist: betterproto2
+Provides-Extra: host
+Requires-Dist: opencv-contrib-python>=4.0; extra == "host"
+Requires-Dist: scipy; extra == "host"
+Requires-Dist: torch>=2.4.0; extra == "host"
+Requires-Dist: torchvision; extra == "host"
+Requires-Dist: pupil-apriltags; extra == "host"
+Requires-Dist: av; extra == "host"
+Provides-Extra: dev
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: pytest-cov; extra == "dev"
+Requires-Dist: grpcio-tools; extra == "dev"
+Requires-Dist: betterproto2_compiler; extra == "dev"
+Provides-Extra: pi
+Requires-Dist: pyserial; extra == "pi"
+Requires-Dist: getmac; extra == "pi"
+Requires-Dist: inventorhatmini; extra == "pi"
+Requires-Dist: gpiodevice; extra == "pi"
+Requires-Dist: Adafruit-Blinka; extra == "pi"
+Requires-Dist: adafruit-circuitpython-bno08x; extra == "pi"
+Requires-Dist: adafruit-circuitpython-vl53l1x; extra == "pi"
+Requires-Dist: adafruit-circuitpython-ads1x15; extra == "pi"
+Requires-Dist: RPi.GPIO; extra == "pi"
+Requires-Dist: pyzbar; extra == "pi"
+Dynamic: license-file
+
+# nf_robot
+
+Control code for the Stringman household robotic crane from Neufangled Robotics
+
+## [Build Guides and Documentation](https://nhnifong.github.io/neufangled-site-2/)
+
+Purchase assembled robots or kits at [neufangled.com](https://neufangled.com)
+
+## Installation of Robot Control Panel (end users)
+
+Linux (python 3.11 or later)
+
+    sudo apt install python3-dev python3-virtualenv python3-pip ffmpeg
+    python -m virtualenv venv
+    pip install "stringman[host]"
+
+### Run
+
+Start headless robot controller in a mode that connects to remote telemetry
+
+    stringman-headless
+
+## Installation of Robot Control Panel (developers)
+
+    git clone https://github.com/nhnifong/cranebot3-firmware.git
+
+    sudo apt install python3-dev python3-virtualenv python3-pip ffmpeg
+    python -m virtualenv venv
+    source venv/bin/activate
+    pip install -e ".[host,dev,pi]"
+
+### If you have an RTX 5090
+
+    pip install --force-reinstall torch==2.8.0 torchvision==0.23.0 torchaudio==2.8.0 torchcodec==0.6.0 --index-url https://download.pytorch.org/whl/cu129
+
+### Run tests
+
+    pytest tests
+
+## Raspberry Pi setup
+
+`stringman-pilot-rpi-image` contains the configuration needed to build an SD card image for various stringman robot components.
+
+Build the image with
+
+    
+
+After booting the robot component with the image for the first time, it will use it's camera to look for a wifi share QR code to get connected. You can produce a code with [qifi.org](htts://qifi.org)
+
+Once the pi sees the code it will connect to the network and remember those settings. It should then be discoverable by the control panel via multicast DNS (Bonjour)
+
+## Starting from a base image
+
+Alternatively the software can be set up from a fresh raspberry pi lite 64 bit image.
+After booting any raspberry pi from a fresh image, perform an update
+
+    sudo apt update
+    sudo apt full-upgrade
+
+When starting with the lite raspi image, you will be missing the following, so install those.
+
+    sudo apt install git python3-dev python3-virtualenv
+
+Set the component type by uncommenting the appropriate line in server.conf
+
+    nano server.conf
+
+Install stringman
+
+    git clone https://github.com/nhnifong/cranebot3-firmware.git && cd cranebot3-firmware
+    chmod +x install.sh
+    sudo ./install.sh
+
+### additional settings for anchors
+
+Setup for any raspberry pi that will be part of an anchor
+Enable uart serial harware interface interactively.
+
+    sudo raspi-config
+
+In interface optoins, select serial port. disable the login shell, but enable hardware serial.
+
+add the following lines lines to to `/boot/firmware/config.txt`  at the end this disables bluetooth, which would otherwise occupy the uart hardware.
+Then reboot after this change
+
+    enable_uart=1
+    dtoverlay=disable-bt
+
+### additional settings for gripper
+
+Setup for the raspberry pi in the gripper with the inventor hat mini
+Enable i2c
+
+    sudo raspi-config nonint do_i2c 0
+
+Add this line to `/boot/firmware/config.txt` just under `dtparam=i2c_arm=on` and reboot
+
+    dtparam=i2c_baudrate=400000
+
+## Rebuilding the raspberry pi image
+
+
+## Training models
+
+
+## Support this project
+
+[Donate on Ko-fi](https://ko-fi.com/neufangled)

nf_robot-0.1.0/README.md

@@ -0,0 +1,108 @@
+# nf_robot
+
+Control code for the Stringman household robotic crane from Neufangled Robotics
+
+## [Build Guides and Documentation](https://nhnifong.github.io/neufangled-site-2/)
+
+Purchase assembled robots or kits at [neufangled.com](https://neufangled.com)
+
+## Installation of Robot Control Panel (end users)
+
+Linux (python 3.11 or later)
+
+    sudo apt install python3-dev python3-virtualenv python3-pip ffmpeg
+    python -m virtualenv venv
+    pip install "stringman[host]"
+
+### Run
+
+Start headless robot controller in a mode that connects to remote telemetry
+
+    stringman-headless
+
+## Installation of Robot Control Panel (developers)
+
+    git clone https://github.com/nhnifong/cranebot3-firmware.git
+
+    sudo apt install python3-dev python3-virtualenv python3-pip ffmpeg
+    python -m virtualenv venv
+    source venv/bin/activate
+    pip install -e ".[host,dev,pi]"
+
+### If you have an RTX 5090
+
+    pip install --force-reinstall torch==2.8.0 torchvision==0.23.0 torchaudio==2.8.0 torchcodec==0.6.0 --index-url https://download.pytorch.org/whl/cu129
+
+### Run tests
+
+    pytest tests
+
+## Raspberry Pi setup
+
+`stringman-pilot-rpi-image` contains the configuration needed to build an SD card image for various stringman robot components.
+
+Build the image with
+
+    
+
+After booting the robot component with the image for the first time, it will use it's camera to look for a wifi share QR code to get connected. You can produce a code with [qifi.org](htts://qifi.org)
+
+Once the pi sees the code it will connect to the network and remember those settings. It should then be discoverable by the control panel via multicast DNS (Bonjour)
+
+## Starting from a base image
+
+Alternatively the software can be set up from a fresh raspberry pi lite 64 bit image.
+After booting any raspberry pi from a fresh image, perform an update
+
+    sudo apt update
+    sudo apt full-upgrade
+
+When starting with the lite raspi image, you will be missing the following, so install those.
+
+    sudo apt install git python3-dev python3-virtualenv
+
+Set the component type by uncommenting the appropriate line in server.conf
+
+    nano server.conf
+
+Install stringman
+
+    git clone https://github.com/nhnifong/cranebot3-firmware.git && cd cranebot3-firmware
+    chmod +x install.sh
+    sudo ./install.sh
+
+### additional settings for anchors
+
+Setup for any raspberry pi that will be part of an anchor
+Enable uart serial harware interface interactively.
+
+    sudo raspi-config
+
+In interface optoins, select serial port. disable the login shell, but enable hardware serial.
+
+add the following lines lines to to `/boot/firmware/config.txt`  at the end this disables bluetooth, which would otherwise occupy the uart hardware.
+Then reboot after this change
+
+    enable_uart=1
+    dtoverlay=disable-bt
+
+### additional settings for gripper
+
+Setup for the raspberry pi in the gripper with the inventor hat mini
+Enable i2c
+
+    sudo raspi-config nonint do_i2c 0
+
+Add this line to `/boot/firmware/config.txt` just under `dtparam=i2c_arm=on` and reboot
+
+    dtparam=i2c_baudrate=400000
+
+## Rebuilding the raspberry pi image
+
+
+## Training models
+
+
+## Support this project
+
+[Donate on Ko-fi](https://ko-fi.com/neufangled)

nf_robot-0.1.0/pyproject.toml

@@ -0,0 +1,66 @@
+[build-system]
+requires = ["setuptools>=61.0", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "nf_robot"
+version = "0.1.0"
+description = "Robot control system for Stringman"
+authors = [{name = "Nathaniel Nifong", email = "naavox@gmail.com"}]
+requires-python = ">=3.11"
+readme = "README.md"
+license = {text = "Apache 2.0"}
+
+dependencies = [
+    "numpy>=2.0",
+    "zeroconf",
+    "asyncio",
+    "websockets",
+    "betterproto2",
+]
+
+[project.optional-dependencies]
+host = [
+    "opencv-contrib-python>=4.0", 
+    "scipy",
+    "torch>=2.4.0",
+    "torchvision",
+    "pupil-apriltags",
+    "av",
+]
+dev = [
+    "pytest",
+    "pytest-cov",
+    "grpcio-tools",
+    "betterproto2_compiler",
+]
+pi = [
+    "pyserial",
+    "getmac",
+    "inventorhatmini",
+    "gpiodevice",
+    "Adafruit-Blinka",
+    "adafruit-circuitpython-bno08x",
+    "adafruit-circuitpython-vl53l1x",
+    "adafruit-circuitpython-ads1x15",
+    "RPi.GPIO",
+    "pyzbar",
+]
+
+[project.scripts]
+# Main Applications
+component-server = "nf_robot.robot.component_server:main"
+stringman-headless = "nf_robot.host.observer:main"
+
+# QA Tools
+qa-anchor = "nf_robot.qa.anchor_eval:main"
+qa-gripper = "nf_robot.qa.gripper_eval:main"
+qa-anchor-arp = "nf_robot.qa.anchor_arp_eval:main"
+
+[tool.setuptools.package-data]
+"nf_robot.scripts" = ["*.sh"]
+"nf_robot.ml" = ["models/*"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+pythonpath = ["src"]

nf_robot-0.1.0/setup.cfg

@@ -0,0 +1,4 @@
+[egg_info]
+tag_build = 
+tag_date = 0
+

nf_robot-0.1.0/src/nf_robot/common/config_loader.py

@@ -0,0 +1,102 @@
+import numpy as np
+from pathlib import Path
+import uuid
+from nf_robot.generated.nf import common, config as nf_config
+
+DEFAULT_CONFIG_PATH = Path(__file__).parent / 'configuration.json'
+
+def create_default_config() -> nf_config.StringmanPilotConfig:
+    """
+    Creates a protobuf configuration object populated with reasonable defaults.
+    """
+    config = nf_config.StringmanPilotConfig()
+    # provision a random ID
+    # once the robot tells the backend what this ID is, it has to stick to it, or the owner may see it disappear from their dashboard
+    config.robot_id = str(uuid.uuid4())
+    config.has_been_calibrated = False
+    config.connect_cloud_telemetry = False
+
+    # Anchors
+    # Defaults based on a square room setup, pointing towards center.
+    anchor_defs = [
+        # (num, position_xyz, rotation_rvec_xyz)
+        (0, (3.0, 3.0, 2.0),  (0.0, 0.0, -np.pi/4)),    # -45 deg
+        (1, (3.0, -3.0, 2.0), (0.0, 0.0, -3*np.pi/4)),  # -135 deg
+        (2, (-3.0, 3.0, 2.0), (0.0, 0.0, np.pi/4)),     # 45 deg
+        (3, (-3.0, -3.0, 2.0),(0.0, 0.0, 3*np.pi/4)),   # 135 deg
+    ]
+
+    for num, pos, rot in anchor_defs:
+        anchor = nf_config.Anchor()
+        anchor.num = num
+        # leaving service_name None is a indicator that this anchor config is a placeholder
+        # and no such service has been disovered yet and assigned this anchor number
+        
+        # Construct Pose using common.Vec3 for rvec (rotation) and tvec (translation)
+        anchor.pose = common.Pose(
+            rotation=common.Vec3(x=rot[0], y=rot[1], z=rot[2]),
+            position=common.Vec3(x=pos[0], y=pos[1], z=pos[2]),
+        )
+        config.anchors.append(anchor)
+    
+    # Camera Calibration 
+    config.camera_cal = nf_config.CameraCalibration()
+    config.camera_cal.resolution = nf_config.Resolution(
+        width=1920, 
+        height=1080
+    )
+
+    # Default Intrinsic Matrix.
+    # This is calibrated for the standard FOV Raspberry Pi Camera module 3
+    # with the autofocus set to a fixed lens position of 0.1
+    intrinsic_np = np.array([
+        [1424.,    0., 960.],
+        [   0., 1424., 540.],
+        [   0.,    0.,   1.]
+    ])
+    config.camera_cal.intrinsic_matrix = intrinsic_np.flatten().tolist()
+
+    # Default Distortion Coefficients
+    distortion_np = np.array([ 0.0115842, 0.18723804, -0.00126164, 0.00058383, -0.38807272])
+    config.camera_cal.distortion_coeff = distortion_np.flatten().tolist()
+
+    # Gripper
+    config.gripper = nf_config.Gripper()
+    config.gripper.frame_room_spin = (50.0 / 180.0) * np.pi
+    
+    # Preferred Cameras
+    config.preferred_cameras = [0, 3]
+    
+    # Miscelleneous anchor vars
+    config.max_accel = 0.3
+    config.rec_mod = 1
+    config.running_ws_delay = 0.03
+
+    return config
+
+def save_config(config: nf_config.StringmanPilotConfig, path: Path=DEFAULT_CONFIG_PATH):
+    """Writes the proto to a JSON file."""
+    with open(path, 'w') as f:
+        f.write(config.to_json(indent=2))
+
+def load_config(path: Path=DEFAULT_CONFIG_PATH) -> nf_config.StringmanPilotConfig:
+    """Loads the proto from a JSON file."""
+    try:
+        with open(path, 'r') as f:
+            return nf_config.StringmanPilotConfig().from_json(f.read())
+            
+    except FileNotFoundError:
+        print(f"No config found at {path}, creating default.")
+        config = create_default_config()
+        print(f"New robot id chosen {config.robot_id}.")
+        save_config(config, path)
+        return config
+
+def config_has_any_address(config: nf_config.StringmanPilotConfig):
+    """Return true if this config has the address of at least one component"""
+    return any([c.address is not None for c in [config.gripper, *config.anchors]])
+
+if __name__ == "__main__":
+    cfg = load_config(DEFAULT_CONFIG_PATH)
+    print(f"Loaded config for robot: {cfg.robot_id}")
+    print(f"Gripper Spin: {cfg.gripper.frame_room_spin}")