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tangram robot\n\ncode for tangram robot project.\n\n## setup instructions\n\n```bash\ncd ~\nmkdir ros2_ws\ncd ros2_ws\ngit clone https://github.com/anshgandhi4/tangram_robot.git src\n```\n\nIf this doesn't work (or prompts you to use GitHub login), try using SSH cloning instead:\n```bash\ngit clone git@github.com:anshgandhi4/tangram_robot.git src\n```\n\n```bash\npython3 -m venv --system-site-packages ~/tangram_venv\nsource ~/tangram_venv/bin/activate\npip install -r ~/ros2_ws/src/requirements.txt\n```\n\n```bash\ncd src\ngit clone https://github.com/AntonioMacaronio/sam3.git\npip install requests Pillow\n```\n\n## run code\n\nRun the following commands in separate distrobox terminals:\n\n```bash\nros2 run ur7e_utils enable_comms\n```\n\n```bash\ncd ~/ros2_ws\nsource ~/tangram_venv/bin/activate\ncolcon build --symlink-install\nsource install/setup.bash\nros2 launch tangram_robot tangram.launch.py ar_marker:=ar_marker_\u003cmarker id\u003e\n```\n\n```bash\ncd ~/ros2_ws\nsource ~/tangram_venv/bin/activate\nsource install/setup.bash\nros2 run tangram_robot main\n```\n\n## aliases\n\n`d`: `distrobox enter ros2 -- bash`\n`s`: `source install/setup.bash`\n`b`: `colcon build --symlink-install \u0026\u0026 s`\n`start_arm`: `ros2 run ur7e_utils enable_comms`\n`estop`: `ros2 run ur7e_utils reset_state`\n`freedrive`: `ros2 run ur7e_utils freedrive`\n`tuck`: `ros2 run ur7e_utils tuck`\n\n## packages\n\n* `perception`: basically ros2 wrapper of `parse_images`, goes from camera to published tangram poses\n* `planning`: determine cube pose, unify TF tree, run IK\n* `ros2_aruco`: determine camera pose relative to aruco marker\n* `scrape_dataset`: webscrape sample tangram images from web and process them, processing code also works for real images\n* `tangram-vlm`: vlm code to generate tangram plan based on text prompt\n* `tangram_robot`: full pick and place 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