def __init__(self):
# This checks if the head camera is open. If it isn't, this will
# close the left hand camera.
try:
CameraController('head_camera')
except AttributeError:
left_cam = CameraController('left_hand_camera')
left_cam.close()
head_cam = CameraController('head_camera')
head_cam.resolution = (1280, 800)
head_cam.open()
# Creating the head variable to mess with later
self.head = Head()
self.head.set_pan(angle=0.)
# Field of view
self.CENTER_X = int(1280 / 2)
self.FOV = pi / 3
# Range away from center you want the arm to stop within
self.FACE_RANGE = 50
self.FACE_CASCADE = cv2.CascadeClassifier(
'src/baxter_face_tracking_demos/src' +
'/haarcascade_frontalface_default.xml')
self.EYE_CASCADE = cv2.CascadeClassifier(
'src/baxter_face_tracking_demos/src/haarcascade_eye.xml')
self.subscription = rospy.Subscriber('/cameras/head_camera/image',
Image, self.send)
rospy.on_shutdown(self.leave_subs_n_pubs)
def __init__(self, calibrate_grippers=True):
self._baxter_state = RobotEnable()
self._left = Limb(LEFT)
self._right = Limb(RIGHT)
self._limbs = {LEFT: self._left, RIGHT: self._right}
self._head = Head()
self._left_gripper, self._right_gripper = Gripper(LEFT), Gripper(RIGHT)
if calibrate_grippers:
self.calibrate()
self._left_ikservice = IKService(LEFT)
self._right_ikservice = IKService(RIGHT)
def __init__(self, camera_averaging=False):
self._cvbr = CvBridge()
self.rs = RobotEnable()
self.ik = IKHelper()
camera_topic = '/cameras/{0}_camera/image_rect'
if camera_averaging:
camera_topic += '_avg'
self.left_img = None
self._left_camera_sub = rospy.Subscriber(
camera_topic.format('left_hand'), Image,
self._on_left_imagemsg_received)
self.right_img = None
self._right_camera_sub = rospy.Subscriber(
camera_topic.format('right_hand'), Image,
self._on_right_imagemsg_received)
self.head_img = None
self._head_camera_sub = rospy.Subscriber(
camera_topic.format('head'), Image,
self._on_head_imagemsg_received)
self.left_itb = None
self._left_itb_sub = rospy.Subscriber('/robot/itb/left_itb/state',
ITBState,
self._on_left_itbmsg_received)
self.right_itb = None
self._right_itb_sub = rospy.Subscriber('/robot/itb/right_itb/state',
ITBState,
self._on_right_itbmsg_received)
self.left_gripper = Gripper('left')
self.right_gripper = Gripper('right')
self.head = Head()
self._display_pub = rospy.Publisher('/robot/xdisplay',
Image,
tcp_nodelay=True,
latch=True)
import rospy
import baxter_interface
from baxter_interface import Gripper, Limb, Head
import time
rospy.init_node('test')
left = Limb('left')
right = Limb('right')
leftg = Gripper('left')
head = Head()
def dab():
right.move_to_neutral()
left.move_to_neutral()
dableft = {
'left_w0': -0.10316020798529407,
'left_w1': 0.0790000105760988,
'left_w2': -0.0011504855909140602,
'left_e0': -0.006519418348513008,
'left_e1': -0.039883500485020755,
'left_s0': 0.29682528245582757,
'left_s1': -0.6181942575178218
}
dabright = {
'right_s0': 0.6810874698211237,
'right_s1': -0.4935583185021319,
'right_w0': -0.008820389530341128,
def __init__(self):
self.head = Head()
self.halo = Halo()
self.halo.set_off()