def __init__(self,graspPlanner,cam,options,gripper):
#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.options = options
self.pcm.fromCameraInfo(cam_info)
self.br = tf.TransformBroadcaster()
self.tl = tf.TransformListener()
self.gp = graspPlanner
self.gripper = gripper
self.com = COM()
self.count = 0
def __init__(self):
self.bfp = True
self.robot = robot_interface.Robot_Interface()
self.url = 'http://172.31.76.30:80/ThinkingQ/'
self.joint_names = ["shoulder_pan_joint",
"shoulder_lift_joint", "upperarm_roll_joint",
"elbow_flex_joint", "forearm_roll_joint",
"wrist_flex_joint", "wrist_roll_joint"]
self.tf_listener = TransformListener()
trfm = Transformer()
self.r2b = trfm.transform_matrix_of_frames(
'head_camera_rgb_optical_frame', 'base_link')
self.model = load_model("./model/0.988.h5")
self.br = TransformBroadcaster()
self.move_group = MoveGroupInterface("arm", "base_link")
# self.pose_group = moveit_commander.MoveGroupCommander("arm")
self.cam = camera.RGBD()
self.position_cloud = None
while True:
try:
cam_info = self.cam.read_info_data()
if cam_info is not None:
break
except:
rospy.logerr('camera info not recieved')
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
def __init__(self, graspPlanner, cam, options):
#topic_name = '/hsrb/head_rgbd_sensor/depth_registered/image_raw'
suction_action = '/hsrb/suction_control'
self.suction_control_client = actionlib.SimpleActionClient(
suction_action, SuctionControlAction)
try:
if not self.suction_control_client.wait_for_server(
rospy.Duration(_CONNECTION_TIMEOUT)):
raise Exception(_suction_action + 'does not exist')
except Exception as e:
rospy.logerr(e)
sys.exit(1)
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()
IPython.embed()
self.pcm.fromCameraInfo(cam_info)
self.br = tf.TransformBroadcaster()
self.gp = graspPlanner
self.options = options
def broadcast_poses():
robot = robot_interface.Robot_Interface()
cam = camera.RGBD()
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')
pcm = PCM()
pcm.fromCameraInfo(cam_info)
point = (208 + (323 - 208) / 2, 247 + (424 - 247) / 2)
print(point)
#(208.076538,247.264099) (323.411957,242.667325) (204.806457,424.053619) (324.232857,434.011618)
dep_data = robot.get_img_data()[1]
print(dep_data)
dep = robot.get_depth(point, dep_data)
print(dep)
br = tf.TransformBroadcaster()
td_points = pcm.projectPixelTo3dRay(point)
# pose = np.array([td_points[0], td_points[1], 0.001 * dep])
norm_pose = np.array(td_points)
norm_pose = norm_pose / norm_pose[2]
norm_pose = norm_pose * (dep)
a = tf.transformations.quaternion_from_euler(ai=-2.355, aj=-3.14, ak=0.0)
b = tf.transformations.quaternion_from_euler(ai=0.0, aj=0.0, ak=1.57)
base_rot = tf.transformations.quaternion_multiply(a, b)
br.sendTransform(norm_pose, base_rot, rospy.Time.now(), 'tree',
'head_camera_rgb_optical_frame')
def __init__(self,graspPlanner,cam,options,gripper):
#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')
# Bells and whisltes
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
self.br = tf.TransformBroadcaster()
self.tl = tf.TransformListener()
self.gp = graspPlanner
self.gripper = gripper
self.options = options
self.com = COM()
# See paper for details, used to release grasp if too much force.
self.tension = Tensioner()
# Side, need to change this.
self.side = 'BOTTOM'
self.offset_x = 0.0 # positive means going to other side of bed (both sides!)
self.offset_z = 0.0 # negative means going UP to ceiling
self.apply_offset = False
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, cam):
# Michael Laskey
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.pcm.fromCameraInfo(cam_info)
self.br = tf.TransformBroadcaster()
self.tl = tf.TransformListener()
# Daniel: add a fake frame. :( TODO: need to fix and get rid of this ...
rospy.sleep(2.0)
self._create_grasp_pose_fake()
rospy.sleep(1.0)
self.count = 0
self.pose_count = 0
# Justin Huang
self._client = actionlib.SimpleActionClient(
ACTION_SERVER, control_msgs.msg.GripperCommandAction)
self._client.wait_for_server(rospy.Duration(10))
def __init__(self):
self.bfp = True
self.br = tf.TransformBroadcaster()
self.robot = robot_interface.Robot_Interface()
self.cam = camera.RGBD()
while True:
try:
cam_info = self.cam.read_info_data()
if cam_info is not None:
break
except:
rospy.logerr('info not recieved')
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
def __init__(self):
self.cam = RGBD()
not_read = True
while not_read:
try:
cam_info = self.cam.read_info_data()
if (not cam_info == None):
not_read = False
except:
rospy.logerr('info not recieved')
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
def __init__(self, label):
self.robot = hsrb_interface.Robot()
self.omni_base = self.robot.get('omni_base')
self.whole_body = self.robot.get('whole_body')
self.gripper = self.robot.get('gripper')
self.label = label
self.br = tf.TransformBroadcaster()
self.sift = cv2.SIFT()
self.focal = 5.0
self.baseline = 5.0
self.poses = []
self.rgbd = RGBD()
not_read = True
while not_read:
try:
cam_info = self.rgbd.read_info_data()
if (not cam_info == None):
not_read = False
except:
rospy.logerr('info not recieved')
#IPython.embed()
#IPython.embed()
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
#IPython.embed()
self.count = 0
self.sess = tfl.Session(config=tfl.ConfigProto(
allow_soft_placement=True))
# load network
#IPython.embed()
self.net = get_network('VGGnet_test')
# load model
self.saver = tfl.train.Saver(write_version=tfl.train.SaverDef.V1)
self.saver.restore(
self.sess,
'../Faster-RCNN_TF/model/VGGnet_fast_rcnn_iter_70000.ckpt')
def __init__(self):
self.bfp = True
self.cx = 320
self.cy = 240
self.ax = 57.5
self.ay = 45
self.fx = self.cx / math.tan(self.ax * math.pi / 180.0 / 2)
self.fy = self.cy / math.tan(self.ay * math.pi / 180.0 / 2)
self.robot = robot_interface.Robot_Interface()
self.br = tf.TransformBroadcaster()
self.move_group = MoveGroupInterface("arm", "base_link")
self.pose_group = moveit_commander.MoveGroupCommander("arm")
self.cam = camera.RGBD()
while True:
try:
cam_info = self.cam.read_info_data()
if cam_info is not None:
break
except:
rospy.logerr('info not recieved')
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
def __init__(self, cam_info):
self.label = 'bottle'
self.poses = []
self.count = 0
self.sess = tfl.Session()
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
# load network
#IPython.embed()
self.br = tf.TransformBroadcaster()
self.net = get_network('VGGnet_test')
# load model
self.saver = tfl.train.Saver(write_version=tfl.train.SaverDef.V1)
self.saver.restore(
self.sess,
'/home/autolab/Workspaces/michael_working/Faster-RCNN_TF/model/VGGnet_fast_rcnn_iter_70000.ckpt'
)
def __init__(self,options,name = None):
'''
Initialization class for a Policy
Parameters
----------
yumi : An instianted yumi robot
com : The common class for the robot
cam : An open bincam class
debug : bool
A bool to indicate whether or not to display a training set point for
debuging.
'''
if(name == None):
name = '07_14_15_27_17save.ckpt-12000'
self.cam = RGBD()
not_read = True
while not_read:
try:
cam_info = self.cam.read_info_data()
if(not cam_info == None):
not_read = False
except:
rospy.logerr('info not recieved')
self.pcm = PCM()
self.pcm.fromCameraInfo(cam_info)
self.options = options
self.detect = Detector(name)
self.br = tf.TransformBroadcaster()
self.gp = GraspPlanner()
def __init__(self, base, cam, options):
#topic_name = '/hsrb/head_rgbd_sensor/depth_registered/image_raw'
suction_action = '/hsrb/suction_control'
self.suction_control_client = actionlib.SimpleActionClient(
suction_action, SuctionControlAction)
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.pcm.fromCameraInfo(cam_info)
self.br = tf.TransformBroadcaster()
self.gp = graspPlanner
self.options = options
self.base = base