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RealWorldScripts Overview

The RealWorldScripts folder contains scripts designed to facilitate the integration of trained models and sensor data into real-world robotic systems. These scripts focus on robotic arm control, real-time data processing, and predictive modeling to achieve tasks such as object detection, pose estimation, and robotic joint movement prediction.

Scripts

1. predictor_server.py

  • Purpose: Serves as the main backend for handling predictions and controlling the robotic arm.
  • Key Features:
    • Hosts endpoints for:
      • Object detection (/predict_objects): Identifies objects in captured frames and provides their positions (origin_x, origin_y, etc.).
      • Joint predictions (/predict_joints): Computes robotic joint angles based on the provided feature data.
    • Integrates pre-trained models for joint prediction.
    • Uses YOLOWorld for object detection.

2. nao_server.py

  • Purpose: Manages the robotic arm's movements and communicates with the NAO robot's motion API.
  • Key Features:
    • Provides endpoints for:
      • Moving the robot arm to specified angles.
      • Retrieving the current joint angles.
    • Implements safety mechanisms to clamp joint movements within predefined limits.

3. predictor_server_test.py

  • Purpose: Contains unit tests for validating the functionality of predictor_server.py.
  • Key Features:
    • Tests endpoints for:
      • Object detection (/predict_objects).
      • Joint predictions (/predict_joints).
    • Ensures the server responds correctly with valid outputs for various scenarios.