def __init__(self,cam):
#topic_name = '/hsrb/head_rgbd_sensor/depth_registered/image_raw'
not_read = True
while not_read:
try:
cam_info = cam.read_info_data()
if(not cam_info == None):
not_read = False
except:
rospy.logerr('info not recieved')
self.pcm = PCM()
self.cam = cam
self.pcm.fromCameraInfo(cam_info)
self.br = tf.TransformBroadcaster()
self.tl = tf.TransformListener()
self.xbox = XboxController()
def __init__(self):
self.xbox = XboxController()
self.robot = hsrb_interface.Robot()
self.whole_body = self.robot.get('whole_body')
self.gripper = self.robot.get('gripper')
self.pubTwist = rospy.Publisher('hsrb/command_velocity',
Twist,
queue_size=1)
def __init__(self, com=None, inject_noise=False, noise_scale=1.0):
self.alpha = noise_scale
self.xbox = XboxController()
self.com = com
self.i_n = inject_noise
if (self.i_n):
self.cov_matrix = pickle.load(
open(self.com.Options.stats_dir + 'cov_matrix.p', 'rb'))
self.pubTwist = rospy.Publisher('hsrb/command_velocity',
Twist,
queue_size=1)
self.record_actions = np.zeros(2)
self.curr_action = np.zeros(3)
self.twist_applied = None