This repository belongs to Carnegie Mellon University, Masters of Science - Robotic Systems Development (MRSD) Team E - VADER
Team Members: Tom Gao, Abhishek Mathur, Rohit Satishkumar, Kshitij Bhat, Keerthi GV
First Revision: March 2025
HRI stands for Human-Robot Interface, and in the context of VADER, the HRI comprises of the State Machine (which controls the flow of perception - planning - extraction - storage loop) and the User Interface (which would receive user commands, switch between autonomy and teleoperation, and display critical data).
The SVD_SingleReal_HRI and SVD_DualSim_HRI programs control the harvesting sequence of the single arm setup (with gripper) with the real hardware as well as the dual arm setup (with gripper/cutter) in simulation.
Additionally, the SVD_sim_randomized_launcher.py script randomizes the pose of the pepper within the reachable simulator workspace, and creates a command that launches the Dual arm HRI and related programs.
This package should be downloaded and built along with all other prerequisite packages. Refer to the documentation page on the project website for more information.
To run the single arm program, do:
roslaunch vader_hri vader_svd_singleReal.launchTo randomize and run the dual arm program, do:
rosrun vader_hri SVD_sim_randomized_launcher.py | bash