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Generate plant models

This repository contains code to proceduraly create Gazebo models of different plants using GroIMP and Meshlab. We provide a repository with generated maize and weed models for you to use. However, feel free to generate and test your own plant models.

Installation

Requires Python >= 3.7, GroIMP 1.6 and Java 8.

pip install -r requirements.txt

If you are working on Linux, downgrade to Java 8.

Create plant models using GroIMP

  1. Create GroIMP task:
python3 generate_groimp_task.py
Click here for the full list of options 
usage: generate_groimp_task.py [-h] [--groimp_path GROIMP_PATH] [--groimp_output_path GROIMP_OUTPUT_PATH]
                            [--crop_type {dicot1,dicot2,cheno,at,cereal,grass,hemp,weed,sunflower,maize,quinoa,tulip,pea,soy,faba,basil}]

optional arguments:
-h, --help            show this help message and exit
--groimp_path GROIMP_PATH
                        GroIMP folder path.
--groimp_output_path GROIMP_OUTPUT_PATH
                        GroIMP output path.
--crop_type {dicot1,dicot2,cheno,at,cereal,grass,hemp,weed,sunflower,maize,quinoa,tulip,pea,soy,faba,basil}
                        Crop type to generate task.
  1. Open project in GroIMP: File > Open... > and select project.gs in the groimp directory of this repository.

Select project

  1. Run the simulation by clicking on the Run run button. This can take a while.

Run simulation

  1. Convert the GroIMP models to Gazebo models:
python3 groimp_to_gazebo_models <run number> <run number> <etc.>

Replace <run_number> by the repetition number you want to use.

Click here for the full list of options 
usage: groimp_to_gazebo_models.py [-h] [--groimp_output_folder GROIMP_OUTPUT_FOLDER] [--model_output_folder MODEL_OUTPUT_FOLDER]
                                [--min_days MIN_DAYS] [--max_days MAX_DAYS] [--increment INCREMENT]
                                plant_numbers [plant_numbers ...]

positional arguments:
plant_numbers         List of plant numbers

optional arguments:
-h, --help            show this help message and exit
--groimp_output_folder GROIMP_OUTPUT_FOLDER
                        groimp output path with .obj files
--model_output_folder MODEL_OUTPUT_FOLDER
                        Output path for Gazebo models
--min_days MIN_DAYS   Minimum day number
--max_days MAX_DAYS   Maximum day number
--increment INCREMENT
                        Increment in day numbers
  1. Copy Gazebo models from generated folder to the models folder of the virtual_maize_field.

Copyright

GrowIMP models in folder growimp are licenced under CC BY-SA 4.0. Rest of repository is licenced as GPLv3.