CropCraft

CropCraft is a python script that generates 3D models of crop fields, specialized in real-time simulation of robotics applications.

• Designed for real-time simulation
• Suitable for use with LiDARs and cameras
• Highly configurable (YAML file)
• Provide ground truth data (identify plant types in LiDAR data)

Requirements

This program uses blender as a backend. It is a 3D modeling software that you can dowload from the official website. If you use Ubuntu, you can install it using snap:

snap install blender --classic

The minimal required version is 4.0. Ensure that blender is launchable from the command line. It means that blender must be accessible using the PATH environment variable.

You also need to install some python requirements:

pip install -r requirements.txt

Running

To generate a crop field, you first need to create a configuration file (YAML formats). Some examples are available in the examples directory. Then you can execute the cropcraft.py script and specify the path of the chosen configuration file.

python cropcraft.py examples/test1.yaml

This command will generate a blender file named test1.blend and a gazebo model named test1

Some options are available and described using

python cropcraft.py --help

Documentation

• Description of the configuration file format
• How to add your own assets