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Move to new learning loop project and update detector #181

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Sep 24, 2024
Merged

Move to new learning loop project and update detector #181

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c67565e
move to new feldfreund project
pascalzauberzeug Sep 19, 2024
adb992a
update plant categories
pascalzauberzeug Sep 23, 2024
1b3f191
update detector
pascalzauberzeug Sep 23, 2024
ce5fec6
fix removal of classes in system
pascalzauberzeug Sep 23, 2024
f08d011
fix tests for new classes
pascalzauberzeug Sep 23, 2024
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11 changes: 4 additions & 7 deletions docker-compose.jetson.orin.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,24 +6,21 @@ services:
privileged: true

detector:
image: "zauberzeug/yolov5-detector:0.1.2-nlv0.10.10-35.4.1"
image: "zauberzeug/yolov5-detector:0.1.3-nlv0.10.12-35.4.1"
restart: always
ports:
- "8004:80"
hostname: ${ROBOT_ID}
environment:
- HOST=learning-loop.ai
- NVIDIA_VISIBLE_DEVICES=all
# - ORGANIZATION=zauberzeug
# - PROJECT=coins
- ORGANIZATION=zuckerruebe
- PROJECT=uckerbots
- ORGANIZATION=feldfreund
- PROJECT=plants
volumes:
# - ~/data_coins:/data
- ~/data_plants:/data

monitoring:
image: "zauberzeug/yolov5-detector:0.1.2-nlv0.10.10-35.4.1"
image: "zauberzeug/yolov5-detector:0.1.3-nlv0.10.12-35.4.1"
restart: always
ports:
- "8005:80"
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2 changes: 1 addition & 1 deletion field_friend/automations/implements/weeding_implement.py
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Expand Up @@ -26,7 +26,7 @@ def __init__(self, name: str, system: 'System', persistence_key: str = 'weeding
rosys.persistence.PersistentModule.__init__(self,
persistence_key=f'field_friend.automations.implements.{persistence_key}')

self.relevant_weeds = system.small_weed_category_names + system.big_weed_category_names
self.relevant_weeds = system.plant_locator.weed_category_names
self.log = logging.getLogger('field_friend.weeding')
self.system = system
self.kpi_provider = system.kpi_provider
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2 changes: 1 addition & 1 deletion field_friend/automations/implements/weeding_screw.py
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Expand Up @@ -14,7 +14,7 @@ class WeedingScrew(WeedingImplement):

def __init__(self, system: 'System') -> None:
super().__init__('Weed Screw', system, 'weeding_screw')
self.relevant_weeds = system.small_weed_category_names + system.big_weed_category_names
self.relevant_weeds = system.plant_locator.weed_category_names
self.log.info(f'Using relevant weeds: {self.relevant_weeds}')
self.weed_screw_depth: float = 0.13
self.max_crop_distance: float = 0.08
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5 changes: 3 additions & 2 deletions field_friend/automations/plant_locator.py
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Expand Up @@ -8,8 +8,9 @@

from .plant import Plant

WEED_CATEGORY_NAME = ['coin', 'weed', 'big_weed', 'thistle', 'orache', 'weedy_area', ]
CROP_CATEGORY_NAME = ['coin_with_hole', 'crop', 'sugar_beet', 'onion', 'garlic', ]
WEED_CATEGORY_NAME = ['coin', 'weed', 'big_weed', 'weedy_area', ]
CROP_CATEGORY_NAME = ['coin_with_hole', 'borrietsch', 'estragon', 'feldsalat', 'garlic', 'jasione', 'kohlrabi', 'liebstoeckel', 'maize', 'minze', 'onion',
'oregano_majoran', 'pastinake', 'petersilie', 'pimpinelle', 'red_beet', 'salatkopf', 'schnittlauch', 'sugar_beet', 'thymian_bohnenkraut', 'zitronenmelisse', ]
MINIMUM_CROP_CONFIDENCE = 0.3
MINIMUM_WEED_CONFIDENCE = 0.3

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12 changes: 7 additions & 5 deletions field_friend/interface/components/plant_object.py
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Original file line number Diff line number Diff line change
@@ -1,18 +1,20 @@
import logging
from typing import TYPE_CHECKING

import rosys
from nicegui.elements.scene_objects import Group, Sphere

from ...automations import PlantProvider
if TYPE_CHECKING:
from system import System


class plant_objects(Group):

def __init__(self, plant_provider: PlantProvider, weed_category_names: list[str]) -> None:
def __init__(self, system: 'System') -> None:
super().__init__()

self.plant_provider = plant_provider
self.weed_category_names = weed_category_names
self.plant_provider = system.plant_provider
self.plant_locator = system.plant_locator
self.log = logging.getLogger('field_friend.plant_objects')
self.update()
self.plant_provider.PLANTS_CHANGED.register_ui(self.update)
Expand All @@ -29,7 +31,7 @@ def update(self) -> None:
obj.delete()
for id, plant in in_world.items():
if id not in rendered:
if plant.type in self.weed_category_names:
if plant.type in self.plant_locator.weed_category_names:
Sphere(0.02).with_name(f'plant_{plant.type}:{id}') \
.material('#ef1208') \
.move(plant.position.x, plant.position.y, 0.02)
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3 changes: 1 addition & 2 deletions field_friend/interface/components/robot_scene.py
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Expand Up @@ -33,8 +33,7 @@ def toggle_lock():
with ui.scene(200, 200, on_click=self.handle_click, grid=False).classes('w-full') as self.scene:
field_friend_object(self.system.odometer, self.system.camera_provider, self.system.field_friend)
rosys.driving.driver_object(self.system.driver)
plant_objects(self.system.plant_provider,
self.system.big_weed_category_names + self.system.small_weed_category_names)
plant_objects(self.system)
visualizer_object(self.system)
field_object(self.system.field_provider, self.system.field_navigation.field)
self.scene.move_camera(-0.5, -1, 2)
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10 changes: 0 additions & 10 deletions field_friend/system.py
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Original file line number Diff line number Diff line change
Expand Up @@ -92,17 +92,7 @@ def watch_robot() -> None:
self.kpi_provider.increment_on_rising_edge('low_battery', self.field_friend.bms.is_below_percent(10.0))

self.puncher = Puncher(self.field_friend, self.driver, self.kpi_provider)
self.big_weed_category_names = ['big_weed', 'thistle', 'orache', 'kamille', ]
self.small_weed_category_names = ['coin', 'weed',]
self.crop_category_names = [
'coin_with_hole', 'sugar_beet', 'onion', 'garlic', 'maize', 'liebstoekel',
'red_beet', 'kohlrabi', 'schnittlauch', 'petersilie', 'bohnenkraut', 'sauerampfer',
'oregano', 'pimpinelle', 'borrietsch', 'estragon', 'zitronenmelisse', 'pfefferminze',
'marokanische_minze', 'thymian',
]
self.plant_locator = PlantLocator(self)
self.plant_locator.weed_category_names = self.big_weed_category_names + self.small_weed_category_names
self.plant_locator.crop_category_names = self.crop_category_names

rosys.on_repeat(watch_robot, 1.0)

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16 changes: 8 additions & 8 deletions tests/test_weeding.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
async def test_working_with_weeding_screw(system: System, detector: rosys.vision.DetectorSimulation):
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='maize',
position=rosys.geometry.Point3d(x=0.2, y=0.0, z=0)))
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
position=rosys.geometry.Point3d(x=0.2, y=0.05, z=0)))
system.current_implement = system.implements['Weed Screw']
system.current_navigation = system.straight_line_navigation
Expand All @@ -22,7 +22,7 @@ async def test_working_with_weeding_screw(system: System, detector: rosys.vision
async def test_keep_crops_safe(system: System, detector: rosys.vision.DetectorSimulation):
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='maize',
position=rosys.geometry.Point3d(x=0.2, y=0.0, z=0)))
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
position=rosys.geometry.Point3d(x=0.2, y=system.field_friend.DRILL_RADIUS-0.01, z=0)))
system.current_implement = system.implements['Weed Screw']
system.current_navigation = system.straight_line_navigation
Expand All @@ -36,7 +36,7 @@ async def test_keep_crops_safe(system: System, detector: rosys.vision.DetectorSi
async def test_weeding_screw_only_targets_big_weed(system: System, detector: rosys.vision.DetectorSimulation):
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='weed',
position=rosys.geometry.Point3d(x=0.2, y=0.0, z=0)))
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
position=rosys.geometry.Point3d(x=0.15, y=0, z=0)))
system.current_implement = system.implements['Weed Screw']
system.current_navigation = system.straight_line_navigation
Expand All @@ -47,9 +47,9 @@ async def test_weeding_screw_only_targets_big_weed(system: System, detector: ros


async def test_weeding_screw_does_not_skip_close_weed(system: System, detector: rosys.vision.DetectorSimulation):
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
position=rosys.geometry.Point3d(x=0.2, y=0, z=0)))
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
position=rosys.geometry.Point3d(x=0.2+system.field_friend.DRILL_RADIUS-0.01, y=0.05, z=0)))
system.current_implement = system.implements['Weed Screw']
system.current_navigation = system.straight_line_navigation
Expand All @@ -61,9 +61,9 @@ async def test_weeding_screw_does_not_skip_close_weed(system: System, detector:
async def test_weeding_screw_focus_on_weed_close_to_crop(system: System, detector: rosys.vision.DetectorSimulation):
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='maize',
position=rosys.geometry.Point3d(x=0.2, y=0.0, z=0)))
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
position=rosys.geometry.Point3d(x=0.1, y=0, z=0)))
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='big_weed',
position=rosys.geometry.Point3d(x=0.16, y=0, z=0)))
system.current_implement = system.implements['Weed Screw']
system.current_navigation = system.straight_line_navigation
Expand All @@ -73,7 +73,7 @@ async def test_weeding_screw_focus_on_weed_close_to_crop(system: System, detecto
system.automator.start()
await forward(40)
assert len(detector.simulated_objects) == 2
assert detector.simulated_objects[1].category_name == 'thistle'
assert detector.simulated_objects[1].category_name == 'big_weed'
assert detector.simulated_objects[1].position.x == 0.1


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