├── CMakeLists.txt ├── README.md ├── img ├── 1.png ├── 2.png ├── 3.png ├── Image.png ├── ezgif.com-optimize (1).gif ├── ezgif.com-optimize (2).gif ├── model.png ├── physical.jpg ├── rviz.png └── simulation.jpg ├── models ├── grasp_object │ ├── ShortCylinder │ │ ├── ShortCylinder.sdf │ │ ├── meshes │ │ │ ├── ShortCylinder.STL │ │ │ └── ShortCylinder.dae │ │ └── model.config │ ├── Sphere │ │ ├── meshes │ │ │ ├── sphere.STL │ │ │ └── sphere.dae │ │ ├── model.config │ │ └── sphere.sdf │ ├── basket.STL │ ├── basket.dae │ ├── calib │ │ ├── calib.sdf │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── calib.material │ │ │ └── textures │ │ │ │ └── chessboard.png │ │ ├── meshes │ │ │ └── calib.STL │ │ └── model.config │ ├── cone │ │ ├── cone.sdf │ │ ├── meshes │ │ │ ├── cone.STL │ │ │ └── cone.dae │ │ └── model.config │ ├── cube │ │ ├── cube.sdf │ │ ├── meshes │ │ │ ├── cube.STL │ │ │ └── cube.dae │ │ └── model.config │ ├── cylinder │ │ ├── cylinder.sdf │ │ ├── meshes │ │ │ ├── cylinder.STL │ │ │ └── cylinder.dae │ │ └── model.config │ ├── fourPrism │ │ ├── fourPrism.sdf │ │ ├── meshes │ │ │ ├── fourPrism.STL │ │ │ └── fourPrism.dae │ │ └── model.config │ ├── fourPrismoid │ │ ├── fourPrismoid.sdf │ │ ├── meshes │ │ │ ├── fourPrismoid.STL │ │ │ └── fourPrismoid.dae │ │ └── model.config │ ├── fourPyramid │ │ ├── fourPyramid.sdf │ │ ├── meshes │ │ │ ├── fourPyramid.STL │ │ │ └── fourPyramid.dae │ │ └── model.config │ ├── halfSphere │ │ ├── halfSphere.sdf │ │ ├── meshes │ │ │ ├── halfSphere.STL │ │ │ └── halfSphere.dae │ │ └── model.config │ ├── model.config │ ├── sixPrism │ │ ├── meshes │ │ │ ├── sixPrism.STL │ │ │ └── sixPrism.dae │ │ ├── model.config │ │ └── sixPrism.sdf │ ├── threePrism │ │ ├── meshes │ │ │ ├── therePrism.STL │ │ │ ├── therePrism.dae │ │ │ └── threePrism.dae │ │ ├── model.config │ │ └── threePrism.sdf │ └── threePyramid │ │ ├── meshes │ │ ├── threePyramid.STL │ │ └── threePyramid.dae │ │ ├── model.config │ │ └── threePyramid.sdf ├── kinect │ ├── 006235565347 │ │ ├── calib_color.yaml │ │ ├── calib_depth.yaml │ │ ├── calib_ir.yaml │ │ └── calib_pose.yaml │ ├── README.md │ ├── materials │ │ └── textures │ │ │ └── kinect.png │ ├── meshes │ │ ├── asus_xtion.dae │ │ └── kinect.dae │ ├── model.config │ └── model.sdf ├── kinova │ ├── j2s7s300_image_capture.xacro │ └── j2s7s300_withBase.xacro └── table │ ├── meshes │ ├── arm_stand.STL │ ├── kinect_support.dae │ ├── table_base.STL │ └── table_top.STL │ ├── table.xacro │ ├── table_properties.xacro │ └── table_simple.xacro ├── msg ├── real_detected_obj.msg └── real_detected_obj_array.msg ├── package.xml ├── scripts ├── classfication.py └── transform.py ├── src └── transform.cpp └── srv ├── calibration_transform.srv ├── calibration_transform.srv~ ├── coordinate_transform.srv~ └── real_kinova_pick.srv /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robot_grasp) 3 | #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") 4 | 5 | # find_package(Eigen REQUIRED) 6 | find_package(OpenCV) 7 | find_package(catkin REQUIRED COMPONENTS 8 | dynamic_reconfigure 9 | message_generation 10 | roscpp 11 | rospy 12 | genmsg 13 | roslint 14 | std_msgs 15 | sensor_msgs 16 | cv_bridge 17 | moveit_core 18 | moveit_ros_planning 19 | moveit_ros_planning_interface 20 | ) 21 | 22 | 23 | add_message_files( 24 | FILES 25 | real_detected_obj.msg 26 | real_detected_obj_array.msg 27 | ) 28 | find_package(kinova_driver REQUIRED) 29 | add_service_files( 30 | FILES 31 | calibration_transform.srv 32 | real_kinova_pick.srv 33 | ) 34 | 35 | generate_messages( 36 | DEPENDENCIES 37 | std_msgs 38 | sensor_msgs 39 | ) 40 | 41 | # generate_dynamic_reconfigure_options( 42 | # config/Pcl.cfg 43 | # cfg/DynReconf2.cfg 44 | # ) 45 | 46 | catkin_package( 47 | CATKIN_DEPENDS message_runtime 48 | DEPENDS Eigen 49 | ) 50 | 51 | # include_directories(include) 52 | include_directories( 53 | include 54 | ${catkin_INCLUDE_DIRS} 55 | ${Eigen_INCLUDE_DIRS} 56 | ) 57 | 58 | link_directories( 59 | lib 60 | ) 61 | 62 | add_executable(transform src/transform.cpp) 63 | 64 | target_link_libraries(transform ${catkin_LIBRARIES}) 65 | 66 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # robot_grasp 2 | This repository saves some code of JCAR Compedtition. The competition includes simulation part and 3 | physical part. branch v2 is the simulation environment I build. Thank Jianbo Zhang to build 4 | 3D model files. This branch includes classification and cooridinate transform code of physical part. 5 | 6 | ## [Simulation part](https://github.com/marooncn/robot_grasp/tree/v2) 7 |
8 | We improve the [official](https://github.com/Kinovarobotics/kinova-ros) kinova model, [here](https://github.com/Kinovarobotics/kinova-ros/issues/157) are the details. 9 | ## Physical part 10 | ### environment 11 |
12 | ### classify 13 | raw image from kinect
14 | raw image from kinect
15 | grayscale
16 | grayscale
17 | classification with decision tree
18 | classification with decision tree
19 | ### coordinate transformation 20 | then transfrom the goal point in the captured image into space point in the robot base cooriedinator.
21 | python version: [transform.py](https://github.com/marooncn/robot_grasp/blob/master/scripts/transform.py)
22 | C++ version: [transform.cpp](https://github.com/marooncn/robot_grasp/blob/master/src/transform.cpp) 23 | -------------------------------------------------------------------------------- /img/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/img/1.png -------------------------------------------------------------------------------- /img/2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/img/2.png -------------------------------------------------------------------------------- /img/3.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/img/3.png -------------------------------------------------------------------------------- /img/Image.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/img/Image.png -------------------------------------------------------------------------------- /img/ezgif.com-optimize (1).gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/img/ezgif.com-optimize (1).gif -------------------------------------------------------------------------------- /img/ezgif.com-optimize (2).gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/img/ezgif.com-optimize (2).gif -------------------------------------------------------------------------------- /img/model.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/img/model.png -------------------------------------------------------------------------------- /img/physical.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/img/physical.jpg -------------------------------------------------------------------------------- /img/rviz.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/img/rviz.png -------------------------------------------------------------------------------- /img/simulation.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/img/simulation.jpg -------------------------------------------------------------------------------- /models/grasp_object/ShortCylinder/ShortCylinder.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | false 5 | 6 | 0 0 0 0 0 0 7 | 8 | 0.07 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.01 0.01 0.01 19 | model://ShortCylinder/meshes/ShortCylinder.dae 20 | 21 | 22 | 23 | 24 | 25 | 0.1 26 | 0.001 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 0.01 0.01 0.01 35 | model://ShortCylinder/meshes/ShortCylinder.dae 36 | 37 | 38 | 39 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /models/grasp_object/ShortCylinder/meshes/ShortCylinder.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/ShortCylinder/meshes/ShortCylinder.STL -------------------------------------------------------------------------------- /models/grasp_object/ShortCylinder/meshes/ShortCylinder.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b 7 | 8 | 2018-05-08T17:01:35 9 | 2018-05-08T17:01:35 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 9.53674e-7 2.499999 2.500002 0.2849796 -2.500001 2.483706 0.2849796 2.499999 2.483706 0.5662427 -2.500001 2.435032 0.5662427 2.499999 2.435032 0.8401244 -2.500001 2.354613 0.8401244 2.499999 2.354613 1.103054 -2.500001 2.243498 1.103054 2.499999 2.243498 1.351603 -2.500001 2.103136 1.351603 2.499999 2.103136 1.582532 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1 5.85635e-7 0 1 -6.69293e-7 0 1 -1.67324e-7 0 1 -3.34648e-7 0 1 3.34648e-7 0 1 1.67324e-7 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 |

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45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 1 0 0 0 0 -1.62921e-7 -1 0 0 1 -1.62921e-7 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/ShortCylinder/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | ShortCylinder 5 | 1.0 6 | ShortCylinder.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A ShortCylinder model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/Sphere/meshes/sphere.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/Sphere/meshes/sphere.STL -------------------------------------------------------------------------------- /models/grasp_object/Sphere/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | sphere 5 | 1.0 6 | sphere.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A sphere model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/Sphere/sphere.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0 0 0 0 0 0 5 | false 6 | 7 | 8 | 0.07 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.01 0.01 0.01 19 | model://sphere/meshes/sphere.dae 20 | 21 | 22 | 23 | 24 | 25 | 0.1 26 | 0.001 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 0.01 0.01 0.01 35 | model://sphere/meshes/sphere.dae 36 | 37 | 38 | 39 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /models/grasp_object/basket.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/basket.STL -------------------------------------------------------------------------------- /models/grasp_object/calib/calib.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 0 0 0 0 7 | 8 | 0.07 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.24 0.18 0.01 19 | 20 | 21 | 22 | 23 | 24 | 0.1 25 | 0.001 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 0.24 0.18 0.01 34 | 35 | 36 | 37 | 42 | 44 | 45 | 46 | 47 | 48 | 49 | -------------------------------------------------------------------------------- /models/grasp_object/calib/materials/scripts/calib.material: -------------------------------------------------------------------------------- 1 | material calib/Diffuse 2 | { 3 | technique 4 | { 5 | pass 6 | { 7 | texture_unit 8 | { 9 | texture chessboard.png 10 | filtering anistropic 11 | max_anisotropy 16 12 | } 13 | } 14 | } 15 | } 16 | -------------------------------------------------------------------------------- /models/grasp_object/calib/materials/textures/chessboard.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/calib/materials/textures/chessboard.png -------------------------------------------------------------------------------- /models/grasp_object/calib/meshes/calib.STL: -------------------------------------------------------------------------------- 1 | solid 30x30calib 2 | facet normal -1.000000e+000 0.000000e+000 0.000000e+000 3 | outer loop 4 | vertex 0.000000e+000 4.819000e+000 2.970000e+002 5 | vertex 0.000000e+000 4.819000e+000 0.000000e+000 6 | vertex 0.000000e+000 0.000000e+000 2.970000e+002 7 | endloop 8 | endfacet 9 | facet normal -1.000000e+000 0.000000e+000 0.000000e+000 10 | outer loop 11 | vertex 0.000000e+000 0.000000e+000 2.970000e+002 12 | vertex 0.000000e+000 4.819000e+000 0.000000e+000 13 | vertex 0.000000e+000 0.000000e+000 0.000000e+000 14 | endloop 15 | endfacet 16 | facet normal 1.321694e-016 0.000000e+000 1.000000e+000 17 | outer loop 18 | vertex 2.100000e+002 4.819000e+000 2.970000e+002 19 | vertex 0.000000e+000 4.819000e+000 2.970000e+002 20 | vertex 2.100000e+002 0.000000e+000 2.970000e+002 21 | endloop 22 | endfacet 23 | facet normal 1.321694e-016 0.000000e+000 1.000000e+000 24 | outer loop 25 | vertex 2.100000e+002 0.000000e+000 2.970000e+002 26 | vertex 0.000000e+000 4.819000e+000 2.970000e+002 27 | vertex 0.000000e+000 0.000000e+000 2.970000e+002 28 | endloop 29 | endfacet 30 | facet normal 1.000000e+000 0.000000e+000 0.000000e+000 31 | outer loop 32 | vertex 2.100000e+002 4.819000e+000 0.000000e+000 33 | vertex 2.100000e+002 4.819000e+000 2.970000e+002 34 | vertex 2.100000e+002 0.000000e+000 0.000000e+000 35 | endloop 36 | endfacet 37 | facet normal 1.000000e+000 0.000000e+000 0.000000e+000 38 | outer loop 39 | vertex 2.100000e+002 0.000000e+000 0.000000e+000 40 | vertex 2.100000e+002 4.819000e+000 2.970000e+002 41 | vertex 2.100000e+002 0.000000e+000 2.970000e+002 42 | endloop 43 | endfacet 44 | facet normal -1.321694e-016 0.000000e+000 -1.000000e+000 45 | outer loop 46 | vertex 0.000000e+000 4.819000e+000 0.000000e+000 47 | vertex 2.100000e+002 4.819000e+000 0.000000e+000 48 | vertex 0.000000e+000 0.000000e+000 0.000000e+000 49 | endloop 50 | endfacet 51 | facet normal -1.321694e-016 0.000000e+000 -1.000000e+000 52 | outer loop 53 | vertex 0.000000e+000 0.000000e+000 0.000000e+000 54 | vertex 2.100000e+002 4.819000e+000 0.000000e+000 55 | vertex 2.100000e+002 0.000000e+000 0.000000e+000 56 | endloop 57 | endfacet 58 | facet normal 0.000000e+000 1.000000e+000 0.000000e+000 59 | outer loop 60 | vertex 2.100000e+002 4.819000e+000 2.970000e+002 61 | vertex 2.100000e+002 4.819000e+000 0.000000e+000 62 | vertex 0.000000e+000 4.819000e+000 2.970000e+002 63 | endloop 64 | endfacet 65 | facet normal 0.000000e+000 1.000000e+000 0.000000e+000 66 | outer loop 67 | vertex 0.000000e+000 4.819000e+000 2.970000e+002 68 | vertex 2.100000e+002 4.819000e+000 0.000000e+000 69 | vertex 0.000000e+000 4.819000e+000 0.000000e+000 70 | endloop 71 | endfacet 72 | facet normal 0.000000e+000 -1.000000e+000 0.000000e+000 73 | outer loop 74 | vertex 2.100000e+002 0.000000e+000 0.000000e+000 75 | vertex 2.100000e+002 0.000000e+000 2.970000e+002 76 | vertex 0.000000e+000 0.000000e+000 0.000000e+000 77 | endloop 78 | endfacet 79 | facet normal 0.000000e+000 -1.000000e+000 0.000000e+000 80 | outer loop 81 | vertex 0.000000e+000 0.000000e+000 0.000000e+000 82 | vertex 2.100000e+002 0.000000e+000 2.970000e+002 83 | vertex 0.000000e+000 0.000000e+000 2.970000e+002 84 | endloop 85 | endfacet 86 | endsolid -------------------------------------------------------------------------------- /models/grasp_object/calib/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | calib 5 | 1.0 6 | calib.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A threePyramid model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/cone/cone.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | false 6 | 7 | 0 0 0 0 0 0 8 | 9 | 0.07 10 | 11 | 0.000010 12 | 0.000010 13 | 0.000010 14 | 15 | 16 | 17 | 18 | 19 | 0.01 0.01 0.01 20 | model://cone/meshes/cone.dae 21 | 22 | 23 | 24 | 25 | 26 | 0.1 27 | 0.001 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 0.01 0.01 0.01 36 | model://cone/meshes/cone.dae 37 | 38 | 39 | 40 | 44 | 46 | 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /models/grasp_object/cone/meshes/cone.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/cone/meshes/cone.STL -------------------------------------------------------------------------------- /models/grasp_object/cone/meshes/cone.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b 7 | 8 | 2018-05-08T16:56:02 9 | 2018-05-08T16:56:02 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 1.23345e-7 -1.899835 -2.5 0.3133332 -1.899835 -2.480287 1.23345e-7 -1.899835 0 -0.3133329 -1.899835 -2.480287 -1.204384 -1.899835 -2.190767 -0.9203112 -1.899835 -2.324441 -0.6217246 -1.899835 -2.421458 -1.926283 -1.899835 -1.59356 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45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 0.9999314 0.0101038 -0.005927044 0 -0.006278756 0.03514102 -0.9993626 0 -0.00988908 0.9993313 0.03520204 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/cone/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | cone 5 | 1.0 6 | cone.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A threePyramid model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/cube/cube.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | false 5 | 6 | 0 0 0 0 0 0 7 | 8 | 0.005 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.01 0.01 0.01 19 | model://cube/meshes/cube.dae 20 | 21 | 22 | 23 | 24 | 25 | 10 26 | 1 27 | 28 | 29 | 30 | 31 | 0.01 32 | 0.01 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 0.01 0.01 0.01 41 | model://cube/meshes/cube.dae 42 | 43 | 44 | 45 | 49 | 51 | 52 | 53 | 54 | 55 | 56 | -------------------------------------------------------------------------------- /models/grasp_object/cube/meshes/cube.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/cube/meshes/cube.STL -------------------------------------------------------------------------------- /models/grasp_object/cube/meshes/cube.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b 7 | 8 | 2018-05-08T19:55:29 9 | 2018-05-08T19:55:29 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 2.5 2.5 2.5 2.5 -2.5 2.5 2.5 2.5 -2.5 2.5 -2.5 -2.5 -2.5 2.5 2.5 -2.5 -2.5 2.5 -2.5 2.5 -2.5 -2.5 -2.5 -2.5 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 1 0 0 0 0 1 -1 0 0 0 0 -1 0 -1 0 0 1 0 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 |

0 0 1 0 2 0 2 0 1 0 3 0 4 1 5 1 0 1 0 1 5 1 1 1 6 2 7 2 4 2 4 2 7 2 5 2 2 3 3 3 6 3 6 3 3 3 7 3 5 4 7 4 1 4 1 4 7 4 3 4 6 5 4 5 2 5 2 5 4 5 0 5

45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/cube/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | cube 5 | 1.0 6 | cube.sdf 7 | 8 | 9 | Ivy Chen 10 | Ivy@ 11 | 12 | 13 | 14 | A cube. This is used for testing. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/cylinder/cylinder.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | false 5 | 6 | 0 0 0 0 0 0 7 | 8 | 9 | 0.07 10 | 11 | 0.000010 12 | 0.000010 13 | 0.000010 14 | 15 | 16 | 17 | 18 | 19 | 20 | 0.01 0.01 0.01 21 | model://cylinder/meshes/cylinder.dae 22 | 23 | 24 | 25 | 26 | 27 | 0.1 28 | 0.001 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 0.01 0.01 0.01 37 | model://cylinder/meshes/cylinder.dae 38 | 39 | 40 | 41 | 45 | 47 | 48 | 49 | 50 | 51 | 52 | -------------------------------------------------------------------------------- /models/grasp_object/cylinder/meshes/cylinder.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/cylinder/meshes/cylinder.STL 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45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 1 0 0 0 0 -1.62921e-7 -1 0 0 1 -1.62921e-7 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/cylinder/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | cylinder 5 | 1.0 6 | cylinder.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A cylinder model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/fourPrism/fourPrism.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | false 5 | 6 | 0 0 0 0 0 0 7 | 8 | 0.07 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.01 0.01 0.01 19 | model://fourPrism/meshes/fourPrism.dae 20 | 21 | 22 | 23 | 24 | 25 | 0.1 26 | 0.001 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 0.01 0.01 0.01 35 | model://fourPrism/meshes/fourPrism.dae 36 | 37 | 38 | 39 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /models/grasp_object/fourPrism/meshes/fourPrism.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/fourPrism/meshes/fourPrism.STL -------------------------------------------------------------------------------- /models/grasp_object/fourPrism/meshes/fourPrism.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b 7 | 8 | 2018-05-08T16:58:51 9 | 2018-05-08T16:58:51 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 1.25 3.75 1.25 1.25 -3.75 1.25 1.25 3.75 -1.25 1.25 -3.75 -1.25 -1.25 3.75 1.25 -1.25 -3.75 1.25 -1.25 3.75 -1.25 -1.25 -3.75 -1.25 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 1 0 0 0 0 1 -1 0 0 0 0 -1 0 -1 0 0 1 0 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 |

0 0 1 0 2 0 2 0 1 0 3 0 4 1 5 1 0 1 0 1 5 1 1 1 6 2 7 2 4 2 4 2 7 2 5 2 2 3 3 3 6 3 6 3 3 3 7 3 5 4 7 4 1 4 1 4 7 4 3 4 6 5 4 5 2 5 2 5 4 5 0 5

45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 1 0 0 0 0 -1.62921e-7 -1 0 0 1 -1.62921e-7 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/fourPrism/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | fourPrism 5 | 1.0 6 | fourPrism.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A fourPrism model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/fourPrismoid/fourPrismoid.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | false 5 | 6 | 0 0 0 0 0 0 7 | 8 | 0.07 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.01 0.01 0.01 19 | model://fourPrismoid/meshes/fourPrismoid.dae 20 | 21 | 22 | 23 | 24 | 25 | 0.1 26 | 0.001 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 0.01 0.01 0.01 35 | model://fourPrismoid/meshes/fourPrismoid.dae 36 | 37 | 38 | 39 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /models/grasp_object/fourPrismoid/meshes/fourPrismoid.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/fourPrismoid/meshes/fourPrismoid.STL -------------------------------------------------------------------------------- /models/grasp_object/fourPrismoid/meshes/fourPrismoid.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b 7 | 8 | 2018-05-08T16:59:37 9 | 2018-05-08T16:59:37 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 1.5 2.035714 1.5 1.5 2.035714 -1.5 -1.5 2.035714 1.5 -1.5 2.035714 -1.5 2.5 -1.464286 -2.5 2.5 -1.464286 2.5 -2.5 -1.464286 -2.5 -2.5 -1.464286 2.5 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 0 1 0 0 -1 0 0 0.2747211 0.961524 -0.961524 0.2747211 0 0.961524 0.2747211 0 0 0.2747211 -0.961524 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 |

0 0 1 0 2 0 2 0 1 0 3 0 4 1 5 1 6 1 6 1 5 1 7 1 2 2 7 2 0 2 0 2 7 2 5 2 3 3 6 3 2 3 2 3 6 3 7 3 0 4 5 4 1 4 1 4 5 4 4 4 1 5 4 5 3 5 3 5 4 5 6 5

45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 1 0 0 0 0 -1.62921e-7 -1 0 0 1 -1.62921e-7 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/fourPrismoid/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | fourPrismoid 5 | 1.0 6 | fourPrismoid.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A fourPrismoid used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/fourPyramid/fourPyramid.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | false 5 | 6 | 0 0 0 0 0 0 7 | 8 | 0.07 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.01 0.01 0.01 19 | model://fourPyramid/meshes/fourPyramid.dae 20 | 21 | 22 | 23 | 24 | 25 | 0.1 26 | 0.001 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 0.01 0.01 0.01 35 | model://fourPyramid/meshes/fourPyramid.dae 36 | 37 | 38 | 39 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /models/grasp_object/fourPyramid/meshes/fourPyramid.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/fourPyramid/meshes/fourPyramid.STL -------------------------------------------------------------------------------- /models/grasp_object/fourPyramid/meshes/fourPyramid.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b 7 | 8 | 2018-05-08T17:00:15 9 | 2018-05-08T17:00:15 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 2.25 -1.83499 -2.25 2.25 -1.83499 2.25 -2.25 -1.83499 -2.25 -2.25 -1.83499 2.25 2.38419e-7 5.50497 2.38419e-7 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 0 -1 0 0.9560879 0.2930803 0 0 0.2930803 -0.9560879 0 0.2930803 0.9560879 -0.9560879 0.2930803 0 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 |

0 0 1 0 2 0 2 0 1 0 3 0 1 1 0 1 4 1 0 2 2 2 4 2 3 3 1 3 4 3 2 4 3 4 4 4

45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 1 0 0 0 0 -1.62921e-7 -1 0 0 1 -1.62921e-7 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/fourPyramid/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | fourPyramid 5 | 1.0 6 | fourPyramid.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A fourPyramid model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/halfSphere/halfSphere.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0 0 0 0 0 0 5 | false 6 | 7 | 8 | 0.07 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.01 0.01 0.01 19 | model://halfSphere/meshes/halfSphere.dae 20 | 21 | 22 | 23 | 24 | 25 | 0.1 26 | 0.001 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 0.01 0.01 0.01 35 | model://halfSphere/meshes/halfSphere.dae 36 | 37 | 38 | 39 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /models/grasp_object/halfSphere/meshes/halfSphere.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/halfSphere/meshes/halfSphere.STL -------------------------------------------------------------------------------- /models/grasp_object/halfSphere/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | halfSphere 5 | 1.0 6 | halfSphere.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A halfSphere model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | cone 5 | 1.0 6 | cone.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A threePyramid model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/sixPrism/meshes/sixPrism.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/sixPrism/meshes/sixPrism.STL -------------------------------------------------------------------------------- /models/grasp_object/sixPrism/meshes/sixPrism.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b 7 | 8 | 2018-05-08T17:02:42 9 | 2018-05-08T17:02:42 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 1.25 3.75 0 1.25 -3.75 0 0.6249999 3.75 -1.082532 0.6249999 -3.75 -1.082532 0.6249999 3.75 1.082532 0.6249999 -3.75 1.082532 -0.6250001 3.75 1.082532 -0.6250001 -3.75 1.082532 -1.25 3.75 0 -1.25 -3.75 0 -0.6250001 3.75 -1.082532 -0.6250001 -3.75 -1.082532 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 0.8660255 0 -0.5 0.8660255 0 0.5 0 0 1 -0.8660255 0 0.4999998 -0.8660255 0 -0.4999998 0 0 -1 0 -1 0 0 1 0 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 |

0 0 1 0 2 0 2 0 1 0 3 0 4 1 5 1 0 1 0 1 5 1 1 1 6 2 7 2 4 2 4 2 7 2 5 2 8 3 9 3 6 3 6 3 9 3 7 3 10 4 11 4 8 4 8 4 11 4 9 4 2 5 3 5 10 5 10 5 3 5 11 5 5 6 7 6 1 6 1 6 7 6 9 6 1 6 9 6 3 6 3 6 9 6 11 6 0 7 2 7 4 7 4 7 2 7 10 7 4 7 10 7 6 7 6 7 10 7 8 7

45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 1 0 0 0 0 -1.62921e-7 -1 0 0 1 -1.62921e-7 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/sixPrism/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | sixPrism 5 | 1.0 6 | sixPrism.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A sixPrism model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/sixPrism/sixPrism.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | false 5 | 6 | 0 0 0 0 0 0 7 | 8 | 0.07 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.01 0.01 0.01 19 | model://sixPrism/meshes/sixPrism.dae 20 | 21 | 22 | 23 | 24 | 25 | 0.1 26 | 0.001 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 0.01 0.01 0.01 35 | model://sixPrism/meshes/sixPrism.dae 36 | 37 | 38 | 39 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /models/grasp_object/threePrism/meshes/therePrism.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/threePrism/meshes/therePrism.STL -------------------------------------------------------------------------------- /models/grasp_object/threePrism/meshes/therePrism.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b 7 | 8 | 2018-05-08T17:04:00 9 | 2018-05-08T17:04:00 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 1.4 3.75 0.8082904 1.4 -3.75 0.8082904 0 3.75 -1.616581 0 -3.75 -1.616581 -1.4 3.75 0.8082904 -1.4 -3.75 0.8082904 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 0.8660255 0 -0.5 0 0 1 -0.8660255 0 -0.5 0 -1 0 0 1 0 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 |

0 0 1 0 2 0 2 0 1 0 3 0 4 1 5 1 0 1 0 1 5 1 1 1 2 2 3 2 4 2 4 2 3 2 5 2 1 3 5 3 3 3 2 4 4 4 0 4

45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 1 0 0 0 0 -1.62921e-7 -1 0 0 1 -1.62921e-7 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/threePrism/meshes/threePrism.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b 7 | 8 | 2018-08-16T09:23:40 9 | 2018-08-16T09:23:40 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 3.8147e-6 25 -16.16581 14 25 8.082909 3.8147e-6 -25 -16.16581 14 -25 8.082909 -14 25 8.082909 -14 -25 8.082909 14 -25 8.082909 -14 -25 8.082909 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 0.8660256 0 -0.5 -0.8660256 0 -0.5 0 0 1 0 1 0 0 -1 0 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 |

0 0 1 0 2 0 2 0 1 0 3 0 4 1 0 1 5 1 5 1 0 1 2 1 1 2 4 2 6 2 6 2 4 2 7 2 0 3 4 3 1 3 3 4 5 4 2 4

45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/threePrism/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | threePrism 5 | 1.0 6 | threePrism.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A threePrism model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/threePrism/threePrism.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | false 5 | 6 | 0 0 0 0 0 0 7 | 8 | 0.07 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.001 0.001 0.001 19 | model://threePrism/meshes/threePrism.dae 20 | 21 | 22 | 23 | 24 | 25 | 0.1 26 | 0.001 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 0.001 0.001 0.001 35 | model://threePrism/meshes/threePrism.dae 36 | 37 | 38 | 39 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /models/grasp_object/threePyramid/meshes/threePyramid.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/grasp_object/threePyramid/meshes/threePyramid.STL -------------------------------------------------------------------------------- /models/grasp_object/threePyramid/meshes/threePyramid.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b 7 | 8 | 2018-05-08T17:04:36 9 | 2018-05-08T17:04:36 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 2.25 -1.891593 1.299038 -2.25 -1.891593 1.299038 0 -1.891593 -2.598076 0 5.67478 0 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 0 -1 0 0 0.16921 0.98558 0.8535374 0.16921 -0.4927901 -0.8535374 0.16921 -0.4927901 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 |

0 0 1 0 2 0 1 1 0 1 3 1 0 2 2 2 3 2 2 3 1 3 3 3

45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 1 0 0 0 0 -1.62921e-7 -1 0 0 1 -1.62921e-7 0 0 0 0 1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /models/grasp_object/threePyramid/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | threePyramid 5 | 1.0 6 | threePyramid.sdf 7 | 8 | 9 | marooncn 10 | marooncn@163.com 11 | 12 | 13 | 14 | A threePyramid model used for robot grasping. 15 | 16 | 17 | -------------------------------------------------------------------------------- /models/grasp_object/threePyramid/threePyramid.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | false 5 | 6 | 0 0 0 0 0 0 7 | 8 | 0.07 9 | 10 | 0.000010 11 | 0.000010 12 | 0.000010 13 | 14 | 15 | 16 | 17 | 18 | 0.01 0.01 0.01 19 | model://threePyramid/meshes/threePyramid.dae 20 | 21 | 22 | 23 | 24 | 25 | 0.1 26 | 0.001 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 0.01 0.01 0.01 35 | model://threePyramid/meshes/threePyramid.dae 36 | 37 | 38 | 39 | 43 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /models/kinect/006235565347/calib_color.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | cameraMatrix: !!opencv-matrix 4 | rows: 3 5 | cols: 3 6 | dt: d 7 | data: [ 1.0433621347564267e+03, 0., 9.3920564434006087e+02, 0., 8 | 1.0454510069414425e+03, 5.1812370965259834e+02, 0., 0., 1. ] 9 | distortionCoefficients: !!opencv-matrix 10 | rows: 1 11 | cols: 5 12 | dt: d 13 | data: [ 3.7507754157959365e-02, 2.1367495518717992e-02, 14 | -8.3557962473024168e-03, -5.4151782272329769e-03, 15 | -1.4277150062748054e-01 ] 16 | rotation: !!opencv-matrix 17 | rows: 3 18 | cols: 3 19 | dt: d 20 | data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] 21 | projection: !!opencv-matrix 22 | rows: 4 23 | cols: 4 24 | dt: d 25 | data: [ 1.0433621347564267e+03, 0., 9.3920564434006087e+02, 0., 0., 26 | 1.0454510069414425e+03, 5.1812370965259834e+02, 0., 0., 0., 1., 27 | 0., 0., 0., 0., 1. ] 28 | -------------------------------------------------------------------------------- /models/kinect/006235565347/calib_depth.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | depthShift: -5.1132611354410521e+01 4 | -------------------------------------------------------------------------------- /models/kinect/006235565347/calib_ir.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | cameraMatrix: !!opencv-matrix 4 | rows: 3 5 | cols: 3 6 | dt: d 7 | data: [ 3.4839645488564503e+02, 0., 2.4646529455509167e+02, 0., 8 | 3.4839976495381285e+02, 1.9742040780023245e+02, 0., 0., 1. ] 9 | distortionCoefficients: !!opencv-matrix 10 | rows: 1 11 | cols: 5 12 | dt: d 13 | data: [ 6.5160037063378223e-02, -2.1405956522333952e-01, 14 | -1.0907132029508227e-02, -7.9966752055673062e-03, 15 | -1.4738102363753491e-01 ] 16 | rotation: !!opencv-matrix 17 | rows: 3 18 | cols: 3 19 | dt: d 20 | data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] 21 | projection: !!opencv-matrix 22 | rows: 4 23 | cols: 4 24 | dt: d 25 | data: [ 3.4839645488564503e+02, 0., 2.4646529455509167e+02, 0., 0., 26 | 3.4839976495381285e+02, 1.9742040780023245e+02, 0., 0., 0., 1., 27 | 0., 0., 0., 0., 1. ] 28 | -------------------------------------------------------------------------------- /models/kinect/006235565347/calib_pose.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | rotation: !!opencv-matrix 4 | rows: 3 5 | cols: 3 6 | dt: d 7 | data: [ 9.9861997455461471e-01, -4.4901084825238360e-04, 8 | -5.2516138565194395e-02, -2.9833535800130443e-05, 9 | 9.9995843972932696e-01, -9.1169032050444770e-03, 10 | 5.2518049568702457e-02, 9.1058883887383708e-03, 11 | 9.9857845824259150e-01 ] 12 | translation: !!opencv-matrix 13 | rows: 3 14 | cols: 1 15 | dt: d 16 | data: [ -7.7139994901996639e-03, 1.1832715385414086e-03, 17 | 1.0322185922350090e-02 ] 18 | essential: !!opencv-matrix 19 | rows: 3 20 | cols: 3 21 | dt: d 22 | data: [ 6.2451060617602560e-05, -1.0310982190945690e-02, 23 | 1.2756958385575575e-03, 1.0713065250724501e-02, 24 | 6.5608044931729601e-05, 7.1609523716138811e-03, 25 | -1.1814084578294682e-03, -7.7131475925356456e-03, 26 | 1.3246863875420416e-04 ] 27 | fundamental: !!opencv-matrix 28 | rows: 3 29 | cols: 3 30 | dt: d 31 | data: [ -2.1377209844232267e-07, 3.5294506395060743e-05, 32 | -8.4365287032360219e-03, -3.6597914501976487e-05, 33 | -2.2412771231930563e-07, 5.4146889945200455e-04, 34 | 2.3382380931618936e-02, -5.4857067245995634e-03, 1. ] 35 | -------------------------------------------------------------------------------- /models/kinect/README.md: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /models/kinect/materials/textures/kinect.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/kinect/materials/textures/kinect.png -------------------------------------------------------------------------------- /models/kinect/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 1.0 5 | Kinect ROS 6 | model-1_2.sdf 7 | model-1_3.sdf 8 | model-1_4.sdf 9 | model.sdf 10 | 11 | 12 | Nate Koenig 13 | nate@osrfoundation.org 14 | 15 | 16 | 17 | A model of the kinect sensor 18 | 19 | 20 | -------------------------------------------------------------------------------- /models/kinect/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 0 0 0.036 0 0 1.57079632679 6 | 7 | 8 | 0.1 9 | 10 | 11 | 12 | 13 | 0.073000 0.276000 0.072000 14 | 15 | 16 | 17 | 18 | 19 | 20 | model://kinect/meshes/kinect.dae 21 | 22 | 23 | 24 | 25 | 26 | true 27 | false 28 | 15.0 29 | 30 | 1.047197 31 | 32 | 33 | B8G8R8 34 | 640 35 | 480 36 | 37 | 38 | 0.01 39 | 9 40 | 41 | 42 | 43 | 0.1 44 | true 45 | 15.0 46 | camera 47 | /camera/rgb/image_raw 48 | /camera/rgb/camera_info 49 | /camera/depth_registered/image_raw 50 | /camera/depth_registered/camera_info 51 | /camera/depth_registered/points 52 | camera_rgb_optical_frame 53 | 0.35 54 | 4.5 55 | 0 56 | 0 57 | 0 58 | 1060 59 | 0 60 | 61 | 62 | 101 | 102 | 103 | 104 | -------------------------------------------------------------------------------- /models/kinova/j2s7s300_image_capture.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | Gazebo/FlatBlack 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | -------------------------------------------------------------------------------- /models/kinova/j2s7s300_withBase.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | Gazebo/FlatBlack 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | -------------------------------------------------------------------------------- /models/table/meshes/arm_stand.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/table/meshes/arm_stand.STL -------------------------------------------------------------------------------- /models/table/meshes/table_base.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/table/meshes/table_base.STL -------------------------------------------------------------------------------- /models/table/meshes/table_top.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/marooncn/robot_grasp/7117cb2424cbb1f1bf315e6358c75a46e7bbec25/models/table/meshes/table_top.STL -------------------------------------------------------------------------------- /models/table/table.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | Gazebo/FlatBlack 7 | 8 | 9 | Gazebo/White 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 100.0 118 | 100.0 119 | 0.01 120 | Gazebo/Green 121 | 122 | 123 | 100.0 124 | 100.0 125 | 0.01 126 | Gazebo/Blue 127 | 128 | 129 | Gazebo/Black 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | true 268 | false 269 | 15.0 270 | 271 | 1.047197 272 | 273 | B8G8R8 274 | 1920 275 | 1080 276 | 277 | 278 | 0.01 279 | 9 280 | 281 | 282 | 283 | 0.1 284 | true 285 | 15.0 286 | camera 287 | /camera/rgb/image_raw 288 | /camera/rgb/camera_info 289 | /camera/depth_registered/image_raw 290 | /camera/depth_registered/camera_info 291 | /camera/depth_registered/points 292 | camera_rgb_optical_frame 293 | 0.35 294 | 4.5 295 | 0 296 | 900 297 | 540 298 | 1.0 299 | 0 300 | 301 | 302 | 303 | 304 | 361 | 362 | 363 | 364 | -------------------------------------------------------------------------------- /models/table/table_properties.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /models/table/table_simple.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Gazebo/FlatBlack 6 | 7 | 8 | Gazebo/White 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | -------------------------------------------------------------------------------- /msg/real_detected_obj.msg: -------------------------------------------------------------------------------- 1 | string name 2 | float32[] pose 3 | -------------------------------------------------------------------------------- /msg/real_detected_obj_array.msg: -------------------------------------------------------------------------------- 1 | real_detected_obj[] objects 2 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robot_grasp 4 | 0.0.0 5 | The robot_grasp package 6 | 7 | xkx 8 | 9 | TODO 10 | 11 | xkx 12 | 13 | 14 | catkin 15 | 16 | dynamic_reconfigure 17 | message_generation 18 | sensor_msgs 19 | 20 | controller_manager 21 | dynamic_reconfigure 22 | effort_controllers 23 | position_controllers 24 | gazebo_plugins 25 | gazebo_ros 26 | gazebo_ros_control 27 | joint_state_controller 28 | joint_state_publisher 29 | message_runtime 30 | robot_state_publisher 31 | sensor_msgs 32 | xacro 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /scripts/classfication.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding: UTF-8 -* 3 | 4 | import cv2 5 | from cv2 import cv 6 | import imutils 7 | import numpy as np 8 | 9 | import rospy 10 | import time 11 | from robot_grasp.msg import real_detected_obj_array 12 | from robot_grasp.msg import real_detected_obj 13 | from robot_grasp.srv import calibration_transform 14 | from robot_grasp.srv import real_kinova_pick 15 | from sensor_msgs.msg import Image 16 | from cv_bridge import CvBridge, CvBridgeError 17 | 18 | index=0 19 | result_list = [] 20 | grasp_list = ['bag', 'bear', 'sausage', 'cake', 'milk box'] 21 | bridge = CvBridge() 22 | #pub = rospy.Publisher('pose', real_detectresult_paramed_obj_array, queue_size=1) 23 | 24 | def get_transform(obj_param_in_cam): 25 | get_transform_prox = rospy.ServiceProxy('/transform',calibration_transform) 26 | return get_transform_prox(obj_param_in_cam).obj_real_detected_in_base 27 | 28 | def get_real_routine(obj_param_in_base): 29 | get_real_routine_prox = rospy.ServiceProxy('/get_real_pick_place_routine',real_kinova_pick) 30 | return get_real_routine_prox(obj_param_in_base).success 31 | 32 | def callback(img): 33 | try: 34 | image = bridge.imgmsg_to_cv2(img, "bgr8") 35 | except CvBridgeError as e: 36 | print(e) 37 | # convert the resized image to grayscale, blur it slightly, 38 | # and threshold it 39 | image = image[0:700, 100:1200] 40 | gray = cv2.cvtColor(image.copy(), cv2.COLOR_BGR2GRAY) 41 | blurred = cv2.GaussianBlur(gray, (5, 5), 0) 42 | thresh = cv2.threshold(blurred, 155, 255, cv2.THRESH_BINARY)[1] 43 | # thresh = cv2.adaptiveThreshold(blurred,255,cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY,20,2) 44 | # kernel = np.ones((5,5), np.uint8) 45 | # thresh = cv2.morphologyEx(thresh, kernel, cv2.MORPH_CLOSE, kernel) 46 | #cv2.imshow("thresh", thresh) 47 | #cv2.waitKey(0) 48 | 49 | # find contours in the thresholded image 50 | cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL, 51 | cv2.CHAIN_APPROX_SIMPLE) 52 | cnts = cnts[0] if imutils.is_cv2() else cnts[1] 53 | 54 | obj_param_single = real_detected_obj() 55 | 56 | for c in cnts: 57 | area = cv2.contourArea(c) 58 | if area < 500: 59 | continue 60 | # compute the center of the contour, then detect the name of the 61 | # shape using only the contour 62 | M = cv2.moments(c) 63 | cX = int(M["m10"] / M["m00"]) 64 | cY = int(M["m01"] / M["m00"]) 65 | list_ = [] 66 | position = [cX, cY] 67 | orientation = 0 68 | property_ = {} 69 | property_['circle'] = 0 70 | property_['rectangle'] = 0 71 | property_['eclipse'] = 0 72 | name = ' ' 73 | 74 | # Circle detection 75 | (x,y),radius = cv2.minEnclosingCircle(c) 76 | center = (int(x),int(y)) 77 | radius = int(radius) 78 | circle_area = np.pi*radius*radius 79 | # print(area/circle_area) 80 | if area/circle_area > 0.7 and area < 15500: 81 | img = cv2.circle(image,center,radius,(255,0,0),2) 82 | # cv2.putText(image, 'circle', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 83 | position = [x, y] # more accurate 84 | property_['circle'] = 1 85 | # define mask with coutour 86 | mask = np.zeros(gray.shape, np.uint8) 87 | cv2.drawContours(mask,[c],0,255,-1) 88 | # cv2.imwrite("mask.png", mask) 89 | mean_val, _, _, _ = cv2.mean(gray,mask = mask) 90 | mean_val = int(mean_val) 91 | min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(gray,mask = mask) 92 | if max_val-min_val > 190: # 受光照影响，差值最大为cake 93 | name = 'cake'result_param 94 | cv2.putText(image, 'cake', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 95 | elif mean_val > 200: # 受光照影响，大值为lemon，小值为orange 96 | name = 'lemon' 97 | cv2.putText(image, 'lemon', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 98 | else: 99 | name = 'orange' 100 | cv2.putText(image, 'orange', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 101 | print(name) 102 | # Rectangle detection 103 | if property_['circle'] == 0: 104 | # print("hello") 105 | rect = cv2.minAreaRect(c) # top-left corner(x,y), (width, height), angle of rotation 106 | rectangle_area = rect[1][0]*rect[1][1] 107 | # print(area/rectangle_area) 108 | aspect_ratio = rect[1][0]/rect[1][1] if rect[1][0] > rect[1][1] else rect[1][1]/rect[1][0] 109 | # print aspect_ratio 110 | if area/rectangle_area > 0.80 and aspect_ratio < 1.5: 111 | box = cv2.cv.BoxPoints(rect) 112 | 113 | # image = cv2.drawContours(image, [box], 0, (255,0,0), 2) 114 | name = 'milk box' 115 | cv2.putText(image, 'milk box', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 116 | property_['rectangle'] = 1 117 | # 旋转角度θ是水平轴（x轴）逆时针旋转，与碰到的矩形的第一条边的夹角。并且这个边的边长是width，另一条边边长是height。也就是说，在这里，width与height不是按照长短来定义的。相对于x轴，逆时针旋转角度为负，顺时针旋转角度为正。在这里，θ∈（-90度，0] 118 | orientation = rect[2] if rect[1][0] > rect[1][1] else rect[2]-90 # 如果宽大于长，则旋转角再减去90度，得到的orientation为沿水平轴逆时针旋转的角度值（负值） 119 | print("milk box %f" % orientation) 120 | # print(aspect_ratio) 121 | if aspect_ratio > 1.9 and area < 7500: 122 | ellipse = cv2.fitEllipse(c) 123 | image = cv2.ellipse(image,ellipse,(255,0,0),2) 124 | name = 'sausage' 125 | cv2.putText(image, 'sausage', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 126 | property_['eclipse'] = 1 127 | orientation = rect[2] if rect[1][0] > rect[1][1] else rect[2]-90 128 | print("sausage %f" % orientation) 129 | 130 | # other detectionsresult_param 131 | if name == ' ': 132 | mask = np.zeros(gray.shape, np.uint8) 133 | cv2.drawContours(mask,[c],0,255,-1) 134 | min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(gray,mask = mask) 135 | mean_val, _, _, _ = cv2.mean(gray,mask = mask) 136 | mean_val = int(mean_val) 137 | perimeter = cv2.arcLength(c,True) 138 | 139 | # print(area, perimeter) 140 | if area > 16000 and perimeter < 700: 141 | # print(area) 142 | name = 'hippo' 143 | cv2.putText(image, 'hippo', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 144 | rect = cv2.minAreaRect(c) 145 | orientation = rect[2] if rect[1][0] > rect[1][1] else rect[2]-90 146 | print("hippo %f" % orientation) 147 | 148 | elif perimeter < 650 and perimeter > 500 and mean_val > 200: 149 | name = 'cream' 150 | cv2.putText(image, 'cream', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 151 | rect = cv2.minAreaRect(c) 152 | orientation = rect[2] if rect[1][0] > rect[1][1] else rect[2]-90 153 | print("cream %f" % orientation) 154 | 155 | elif perimeter < 5000 and mean_val < 210 and perimeter < 800: 156 | name = 'ball' 157 | # ball recovery 158 | (x,y),radius = cv2.minEnclosingCircle(c) 159 | center = (int(x),int(y)) 160 | radius = int(radius) 161 | img = cv2.circle(image,center,radius,(255,0,0),2) 162 | position = [x, y] # more accurate 163 | property_['cirresult_paramcle'] = 1 164 | cv2.putText(image, 'ball', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 165 | 166 | elif perimeter < 920 and area < 10000 and mean_val > 170 and mean_val < 200: # 受光照影响 167 | # print(max_val - min_val) 168 | name = 'bear' 169 | cv2.putText(image, 'bear', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 170 | rect = cv2.minAreaRect(c) 171 | orientation = rect[2] if rect[1][0] > rect[1][1] else rect[2]-90 172 | print("bear %f" % orientation) 173 | 174 | else: 175 | # print(perimeter) 176 | name = 'bag' 177 | cv2.putText(image, 'bag', center, cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2) 178 | rect = cv2.minAreaRect(c) 179 | orientation = rect[2] if rect[1][0] > rect[1][1] else rect[2]-90 180 | print("bag %f" % orientation) 181 | print(name) 182 | if name not in grasp_list: 183 | continue 184 | result_param = [] 185 | transformed_param = [] 186 | result_param.append(position[0]+100) 187 | result_param.append(position[1]) 188 | result_param.append(orientation) 189 | obj_param_single.name = name 190 | obj_param_single.pose = result_param 191 | 192 | result_param = [] 193 | 194 | # print(obj_param_single.pose) 195 | #obj_param_single.pose.append(position) 196 | #obj_param_single.pose.append(orientation) 197 | 198 | # list_.append(name) 199 | # list_.append([position, orientation]) 200 | #cv2.imshow('Image', image2) 201 | #cv2.waitKey(0) 202 | #cv2.imshow('Image', image) 203 | #cv2.waitKey(0) 204 | #cv2.destroyAllWindows() 205 | transformed_param = get_transform(obj_param_single) 206 | print(transformed_param) 207 | result_param.append(transformed_param[0]) 208 | result_param.append(transformed_param[1]) 209 | result_param.append(transformed_param[2]) 210 | result_param.append(orientation) 211 | obj_param_single.pose = result_param 212 | 213 | success = get_real_routine(obj_param_single) 214 | 215 | #get_real_routine(list_) 216 | # list_.append(property_) 217 | # result_list.append(list_) 218 | 219 | #deal_image = image 220 | #pub.publish(result_list) 221 | 222 | 223 | def main(): 224 | rospy.init_node('classfication', anonymous=True) 225 | 226 | # pub2 = rospy.Publisher('deal_img', Image, queue_size=1) 227 | rate = rospy.Rate(1) 228 | while not rospy.is_shutdown(): 229 | rospy.Subscriber('/kinect2/hd/image_color_rect', Image, callback) 230 | 231 | rate.sleep() 232 | 233 | 234 | if __name__ == '__main__': 235 | main() 236 | 237 | 238 | 239 | -------------------------------------------------------------------------------- /scripts/transform.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import numpy as np 3 | 4 | ''' 5 | convert the point in the captured image to point related to the robot base to execute grasp 6 | ''' 7 | 8 | from robot_grasp.srv import calibration_transform 9 | import rospy 10 | 11 | cx=947.266; 12 | cy=577.551; # (cx, cy) is center of image 13 | fx=1068.6277; 14 | fy=1069.2988; # (fx, fy) is focal length 15 | dz=depth=0.713; 16 | # R, image point to camera 17 | Intrinsic_matrix = np.array([[fx, 0, cx], 18 | [0, fy, cy], 19 | [0, 0, 1.0]]) 20 | # [R | T], R is the rotation matrix from robot base to camera coordinator, T is the translation vector [dx, dy, dz] and dz # m 21 | Extrinsic_matrix = np.array([[0.05067265, -0.99716277, 0.05566597, -0.52], 22 | -0.99558933, -0.05484203, -0.07611985, -0.59], 23 | 0.07895671, -0.05156326, -0.9955436, 0.713], 24 | 0, 0, 0, 1]]) 25 | 26 | def transform(req): 27 | # (xm, ym) is the point on the image, the left-up corner is (0, 0) 28 | xm = req.obj_real_detected_in_cam.pose[0]; 29 | ym = req.obj_real_detected_in_cam.pose[1]; 30 | Orientation = req.obj_real_detected_in_cam.pose[2]; 31 | # calculate the 3-d projected point from 2-d image point 32 | x1 = (xm-cx)*depth/fx; 33 | x2 = (ym-cy)*depth/fy; 34 | projection_point = np.array([x1, x2, depth, 1]) 35 | # P_robotBase = T * P_camera 36 | grasp_point = np.dot(Extrinsic_matrix), projection_point) 37 | res_obj_param = [] 38 | res_obj_param.append(grasp_point[0]) 39 | res_obj_param.append(grasp_point[1]) 40 | res_obj_param.append(grasp_point[2]) 41 | res_obj_param.append(Orientation) 42 | return res_obj_param; 43 | 44 | def main(): 45 | rospy.init_node('coordinates_transformer') 46 | s = rospy.Service('transform', calibration_transform, transform) 47 | print "Ready to do transform." 48 | rospy.spin() 49 | 50 | if __name__ == "__main__": 51 | main() 52 | -------------------------------------------------------------------------------- /src/transform.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include "ros/ros.h" 6 | #include "robot_grasp/calibration_transform.h" 7 | 8 | class calib_trans 9 | { 10 | public: 11 | explicit calib_trans(ros::NodeHandle nh) 12 | : nh_(nh) 13 | { 14 | trans_service = nh_.advertiseService("/transform", &calib_trans::transform, this); 15 | Intrinsic_matrix<<1068.6277, 0, 947.266, 16 | 0, 1069.2998, 577.550, 17 | 0, 0, 1.0; 18 | // Extrinsic_matrix<<0, -1, 0, 0, 1, 0, 0, 0, 0, 0,-1, 0, 0, 0, 0, 1; 19 | Extrinsic_matrix<<0.05067265, -0.99716277, 0.05566597, -0.52, 20 | -0.99558933, -0.05484203, -0.07611985, -0.59, 21 | 0.07895671, -0.05156326, -0.9955436, 0.713, 22 | 0, 0, 0, 1; 23 | cx=947.266; 24 | cy=577.551; 25 | fx=1068.63; 26 | fy=1069.230; 27 | depth=0.713; 28 | } 29 | 30 | public: 31 | ros::NodeHandle nh_; 32 | ros::ServiceServer trans_service; 33 | Eigen::Matrix3d Intrinsic_matrix; 34 | Eigen::Matrix4d Extrinsic_matrix; 35 | Eigen::Vector4d projection_point,grasp_point; 36 | 37 | float depth; 38 | float cx; 39 | float cy; 40 | float fx; 41 | float fy; 42 | float xm, ym; //image co 43 | float x1, x2, x3; //projected point 44 | 45 | bool transform(robot_grasp::calibration_transform::Request &req, 46 | robot_grasp::calibration_transform::Response &res) 47 | { 48 | 49 | x3 = depth; 50 | std::vector res_obj_param; 51 | 52 | xm = req.obj_real_detected_in_cam.pose[0]; 53 | ym = req.obj_real_detected_in_cam.pose[1]; 54 | 55 | float Orientation = req.obj_real_detected_in_cam.pose[2]; 56 | x1 = (xm-cx)*depth/fx; 57 | x2 = (ym-cy)*depth/fy; 58 | 59 | projection_point<