Cable Routing

This directory contains the core components for robotic cable routing, including planning algorithms, environment setup, perception, and learned models.

Structure

• algo/: Planning algorithms (e.g. A* search, Levenshtein distance).
• configs/: Configuration files for boards, cameras, and environment setup.
• env/: Interfaces for cameras, robots, and the environment, with ROS integration.
• handloom/: Autoregressive cable tracing.
• scripts/: End-to-end pipeline scripts, calibration, data collection, and demos.

---

Installation

To set up the environment, install dependencies, and build required components, please refer to the INSTALL.md guide.

---

Usage Guide

🔧 Step 1: Launch the Robot and Camera Display

1. Turn on the YuMi robot and power supply.
2. Open Terminal 1: Launch the camera node

   mamba activate cable
   yumi  # source the ROS workspace
   roslaunch zed_wrapper zedm.launch

3. Open Terminal 2: Open visualization

   mamba activate cable
   yumi  # source the ROS workspace
   rviz

---

🧭 Step 2: Create the Board Configuration

1. Launch the board setup GUI:

   cd ~/cable_routing/cable_routing/env/board/
   python board_setup_gui.py

2. Follow the on-screen instructions (start with point 'A').
3. Press 'q' to save the board layout and validate the generated image.

---

🤖 Step 3: Run the Cable Routing Pipeline

1. Open the routing script:

   ~/cable_routing/cable_routing/scripts/cable_routing_pipeline.py

2. Inside the script, define the desired routing sequence:

   routing = ["A", "B", "C", "E", "F"]

3. Execute the pipeline:

   python ~/cable_routing/cable_routing/scripts/cable_routing_pipeline.py

---