Squashed commit of the following: · LASR-at-Home/Base@67f48d9

Commit

Squashed commit of the following:

commit 35ec4d6
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 20:01:14 2024 +0100

    quick fix of load model

commit 79b88cf
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 19:49:16 2024 +0100

    Preload the bodipix model so that hopefully now it's quicker.

commit 3c20212
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 19:34:53 2024 +0100

    Do not use mask for feature detection!

commit 823e530
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 19:31:30 2024 +0100

    haha find this bug of Matt's

commit 76d5acd
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 19:13:16 2024 +0100

    Let's see if this change of CDRequest works.

commit 82e656b
Merge: 3a2a429 893efa5
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 18:04:34 2024 +0100

    Merge remote-tracking branch 'upstream/receptionist-polishing'

commit 3a2a429
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 18:03:44 2024 +0100

    fixed some little bugs

commit 42e6e02
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 16:07:19 2024 +0100

    fixed a small bug that parameters of GetCroppedImage is now different.

commit 7ed0fd6
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 15:39:44 2024 +0100

    Added adjust camera into the state machine.

commit 32bb259
Merge: 6fabe99 175ad86
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 15:21:44 2024 +0100

    Merge remote-tracking branch 'upstream/receptionist-polishing'

commit 6fabe99
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 15:11:52 2024 +0100

    Made adjust camera an idividual state machine that runs compleately independent.

commit 0382916
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jul 3 00:31:08 2024 +0100

    refactor a little bit.

commit cee4f68
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jul 2 23:33:35 2024 +0100

    WORKS FINALLY!!!

commit 0c2ed2e
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jul 2 22:49:44 2024 +0100

    Replace get image using the service state, see if it's faster.

commit e2c3543
Merge: 7358134 2be26a6
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jul 2 21:17:52 2024 +0100

    Merge remote-tracking branch 'upstream/receptionist-polishing'

commit 7358134
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jul 2 20:56:21 2024 +0100

    commit the current slow version before update to new brand.

commit 54fcc81
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jul 2 16:56:58 2024 +0100

    In general this works now, needs bit more polish, also need to clean the code.

commit e0cb3a3
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jul 1 19:21:59 2024 +0100

    Still have some wrong coordinate issue but much better now.

commit 880bd74
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jul 1 18:58:03 2024 +0100

    Works but soooooo slow.

commit 4e7c61f
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Sun Jun 30 21:35:18 2024 +0100

    Think now the coordinates are wrong, probably y and x should inverse, will see tomorrow.

commit 46257c1
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Sun Jun 30 12:09:34 2024 +0100

    added maximum attempts to adjust camera.

commit 600435b
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Jun 27 18:43:05 2024 +0100

    Updated camera movement suggestions.

commit 83d3329
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Jun 27 18:32:17 2024 +0100

    Updated detect_keypoints in bodipix.

commit 049ceab
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Jun 27 17:28:11 2024 +0100

    Updated missing body part detection.

commit 0c1cb36
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Jun 27 15:06:56 2024 +0100

    Added validate keypoints into the state.

commit 118b461
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Jun 27 13:32:21 2024 +0100

    Added conditions for testing on roslocal.

commit c81cc2b
Merge: b570683 b3e889a
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Jun 27 13:10:38 2024 +0100

    Merge https://github.com/haiwei-luo/Base

commit b570683
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Jun 27 13:01:02 2024 +0100

    removed wrong -0,5

commit b3e889a
Author: Haiwei <haiwei8809@gmail.com>
Date:   Wed Jun 26 19:29:03 2024 +0100

    Fix bugs

commit 683636f
Author: Haiwei <haiwei8809@gmail.com>
Date:   Wed Jun 26 18:35:22 2024 +0100

    Add flag to indicate no detections

commit 4cf1a84
Author: Haiwei <haiwei8809@gmail.com>
Date:   Wed Jun 26 18:20:35 2024 +0100

    Handling no empty seat and no detection

commit f2ba060
Author: Haiwei <haiwei8809@gmail.com>
Date:   Wed Jun 26 17:43:29 2024 +0100

    Identify look at person bug and reformatting

commit 97a0277
Author: Haiwei <haiwei8809@gmail.com>
Date:   Wed Jun 26 14:03:31 2024 +0100

    Remove learning face for guest2

commit 6eed3d9
Merge: 205897e 77b66a8
Author: Haiwei <haiwei8809@gmail.com>
Date:   Wed Jun 26 14:02:03 2024 +0100

    Catch if attributes detection fail in main state machine

commit 913eda1
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 25 15:46:24 2024 +0100

    added look at person back.

commit 4f25c0f
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 25 13:46:26 2024 +0100

    Returned cloth category strings.

commit a687aec
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 25 13:17:59 2024 +0100

    Stopped using segmentation.

commit 4dc892d
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 25 11:30:56 2024 +0100

    Reformatted the code

commit 2864f87
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 25 11:28:06 2024 +0100

    Returning confidence of the prediction.

commit 205897e
Merge: b612ed9 e14e535
Author: Haiwei <haiwei8809@gmail.com>
Date:   Mon Jun 24 18:55:22 2024 +0100

    Merge branch 'main' of github.com:haiwei-luo/Base into main

commit b612ed9
Author: Haiwei <haiwei8809@gmail.com>
Date:   Mon Jun 24 18:54:59 2024 +0100

    Adapt

commit 90d8c3c
Merge: c90c6bb 1eee0bb
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 24 17:16:40 2024 +0100

    Merge remote-tracking branch 'upstream/main'

commit c90c6bb
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 24 17:14:03 2024 +0100

    Removed "PrintSay" class as it doesn't work. Updated bodypix services.

commit e14e535
Merge: a20681f 1eee0bb
Author: haiwei-luo <137087599+haiwei-luo@users.noreply.github.com>
Date:   Mon Jun 24 16:13:19 2024 +0100

    Merge branch 'LASR-at-Home:main' into main

commit 182b72a
Merge: a24320e a20681f
Author: Haiwei <haiwei8809@gmail.com>
Date:   Mon Jun 24 16:12:59 2024 +0100

    Fix introduce guest

commit a24320e
Author: Haiwei <haiwei8809@gmail.com>
Date:   Mon Jun 24 15:01:10 2024 +0100

    Merging

commit a20681f
Merge: ae06cd2 7d9293e
Author: haiwei-luo <137087599+haiwei-luo@users.noreply.github.com>
Date:   Mon Jun 24 14:58:00 2024 +0100

    Merge branch 'LASR-at-Home:main' into main

commit ae06cd2
Author: Haiwei <haiwei8809@gmail.com>
Date:   Mon Jun 24 12:23:57 2024 +0100

    Minor fix

commit d36a96f
Author: Haiwei <haiwei8809@gmail.com>
Date:   Mon Jun 24 12:22:19 2024 +0100

    Minor resolution

commit 6425a57
Author: Haiwei <haiwei8809@gmail.com>
Date:   Mon Jun 24 12:21:13 2024 +0100

    Resolve github flags

commit e782f02
Merge: fd37557 5026ebf
Author: Haiwei <haiwei8809@gmail.com>
Date:   Mon Jun 24 12:18:11 2024 +0100

    Resolve merge conflicts

commit dcd5aa0
Merge: 0268c6a 5026ebf
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Jun 21 17:47:43 2024 +0100

    Merge remote-tracking branch 'upstream/main'

commit 0268c6a
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Jun 21 17:43:09 2024 +0100

    added conditional Say class using print only.

commit 5954f51
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Jun 21 17:23:43 2024 +0100

    added conditional topic and crop method back for testing.

commit 901f2c1
Merge: a7d9609 e458425
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Jun 21 16:57:58 2024 +0100

    Merge remote-tracking branch 'upstream/main'

commit a7d9609
Author: fireblonde <71558254+fireblonde@users.noreply.github.com>
Date:   Wed Jun 19 19:17:26 2024 +0100

    Receptionist recognise and look at (#220)

    Co-authored-by: Jared Swift <j.w.swift@outlook.com>

commit 9614dc5
Author: Matt Barker <105945282+m-barker@users.noreply.github.com>
Date:   Fri Jun 21 16:24:12 2024 +0100

    Add support for masked cropping (#224)

commit 2857602
Author: Matt Barker <105945282+m-barker@users.noreply.github.com>
Date:   Fri Jun 21 16:21:55 2024 +0100

    Add required keypoint detection (#226)

    Co-authored-by: Jared Swift <jared.swift@kcl.ac.uk>

commit 7ae9edb
Author: haiwei-luo <137087599+haiwei-luo@users.noreply.github.com>
Date:   Fri Jun 21 14:41:42 2024 +0100

    Receptinist 21/06

    Co-authored-by: Jared Swift <j.w.swift@outlook.com>
    Co-authored-by: m-barker <mattbarker322@gmail.com>
    Co-authored-by: Zoe <ezoe013@gmail.com>
    Co-authored-by: fireblonde <nicollehchevska@gmail.com>

commit 5a0c0cc
Author: fireblonde <71558254+fireblonde@users.noreply.github.com>
Date:   Wed Jun 19 19:17:26 2024 +0100

    Receptionist recognise and look at (#220)

    Co-authored-by: Jared Swift <j.w.swift@outlook.com>

commit 325e19b
Author: Jared Swift <jared.swift@kcl.ac.uk>
Date:   Fri Jun 21 14:33:41 2024 +0100

    Apply suggestions from code review

commit 71cec2a
Author: Jared Swift <j.w.swift@outlook.com>
Date:   Tue Jun 18 11:34:29 2024 +0100

    refactor: undo some formatting, to reduce the diff.

commit 46170e4
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 17:59:23 2024 +0100

    Reformatted the file.

commit a405f20
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 17:58:31 2024 +0100

    Corrected the threshold error :)

commit 2864e5d
Merge: 4e33caa 49dd56f
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 17:53:53 2024 +0100

    Merge remote-tracking branch 'upstream/main'

commit 4e33caa
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 17:47:45 2024 +0100

    Reformatted the files.

commit f732b7e
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 17:45:14 2024 +0100

    Removed debug print.

commit 74d1c0f
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 17:42:27 2024 +0100

    Reformatted the files.

commit 3dc0a8b
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 17:41:22 2024 +0100

    Update attribute list for cloth

commit 235df48
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 17:37:41 2024 +0100

    Changed cloth predictor initialization

commit 108383e
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 17:37:25 2024 +0100

    Changed attribute description in image classification

commit 43b8e47
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 17:37:02 2024 +0100

    Add environment-based conditions

commit a0b3b15
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 16:56:41 2024 +0100

    Changed attribute definitions and adjust thresholds.

commit 122784f
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Jun 17 16:55:27 2024 +0100

    Add ClothPredictor class, simplified reading the thresholds.

commit 12ac8c3
Merge: f47adee 22be61f
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Mon Jun 17 16:26:52 2024 +0100

    Merge branch 'LASR-at-Home:main' into main

commit f47adee
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jun 12 12:17:01 2024 +0100

    Added people to userdata at an early stage to avoid key error.

commit 1ac2067
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 11 15:49:59 2024 +0100

    call userdata people with "userdata.people" not ["people"]?

commit 600873a
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 11 14:39:11 2024 +0100

    removed redundant comment :D

commit 963ba0b
Merge: 38b9f30 7cfc691
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 11 14:37:33 2024 +0100

    Merge remote-tracking branch 'origin/main'

commit 38b9f30
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 11 14:37:13 2024 +0100

    Correct typo and remove debug logs

    Corrected the typo in the function name 'load_cloth_classidifer_model' to 'load_cloth_classifier_model'. Removed two logging statements from describe_people.py that were used for debugging purposes.

commit 7cfc691
Author: Jared Swift <j.w.swift@outlook.com>
Date:   Mon Jun 10 16:16:07 2024 +0100

    maybe revert: fix file permissions (3).

commit f61a58f
Author: Jared Swift <j.w.swift@outlook.com>
Date:   Mon Jun 10 16:15:25 2024 +0100

    maybe revert: fix file permissions (2).

commit 2f81f07
Author: Jared Swift <j.w.swift@outlook.com>
Date:   Mon Jun 10 16:08:23 2024 +0100

    maybe revert: fix file permissions.

commit e1bb6af
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Jun 6 12:46:50 2024 +0100

    Reformated with black :)

commit cbc1211
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jun 5 18:55:14 2024 +0100

    Reformated files

commit 4669b72
Merge: 7968946 2d3cb76
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jun 5 18:40:15 2024 +0100

    Merge remote-tracking branch 'upstream/main'

commit 7968946
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jun 5 18:37:25 2024 +0100

    updated predictor working

commit 183415a
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 4 18:20:28 2024 +0100

    there is these fucking stupit fucking threshold mismatch that I'm so fucking tired and haven't fuking fixed.

commit 1e1ada2
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Jun 4 17:04:54 2024 +0100

    too many values to unpack

commit a4222a9
Merge: d1f4452 09bae51
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri May 31 01:30:45 2024 +0100

    Merge remote-tracking branch 'upstream/main'

commit fd37557
Author: tiago <example@example.com>
Date:   Thu May 30 13:41:46 2024 +0100

    Make receptionist more robust:
    - When indicating a free seat with its head, it will move on if the head
    is stuck
    - Give the guest 5 seconds to be seated before moving on

commit 6a38d09
Merge: 953d35c 4d34852
Author: tiago <example@example.com>
Date:   Tue May 28 14:43:20 2024 +0100

    Merge remote-tracking branch 'zoe-fork/main' into main

commit 4d34852
Merge: 0c3b2a8 00bcbe0
Author: tiago <example@example.com>
Date:   Tue May 28 12:53:44 2024 +0100

    fixing conflict

commit 0c3b2a8
Author: tiago <example@example.com>
Date:   Tue May 28 12:12:03 2024 +0100

    adding fixes to state machine

commit d1f4452
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri May 17 18:15:43 2024 +0100

    Changed 'usb_cam' to 'camera'

commit 7f3a76f
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri May 17 17:00:21 2024 +0100

    Added cloth detection and classification in.

commit 1c6becd
Author: tiago <example@example.com>
Date:   Tue May 14 18:21:44 2024 +0100

    robustifying receptionist

commit aea2739
Author: Benteng Ma <1376937399@qq.com>
Date:   Mon May 13 17:52:17 2024 +0100

    Added new model structure.

commit 9b07953
Author: Benteng Ma <1376937399@qq.com>
Date:   Mon May 13 17:44:25 2024 +0100

    Fixed merged xml files

commit 3e8f290
Author: Benteng Ma <1376937399@qq.com>
Date:   Mon May 13 17:31:16 2024 +0100

    Renamed a parameter in sm

commit 06b8152
Author: Benteng Ma <1376937399@qq.com>
Date:   Mon May 13 17:27:00 2024 +0100

    update from upstream

commit 226888e
Merge: 9507481 449080d
Author: Benteng Ma <1376937399@qq.com>
Date:   Mon May 13 17:19:33 2024 +0100

    Merge branch 'main' of https://github.com/MBTMBTMBT/LASR_ben

commit 9507481
Author: Benteng Ma <1376937399@qq.com>
Date:   Mon May 13 17:18:59 2024 +0100

    commited updates

commit 449080d
Merge: 2f06597 7195e86
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Tue May 14 00:08:58 2024 +0800

    Merge pull request #7 from LASR-at-Home/main

    merge from main

commit 00bcbe0
Author: Zoe <ezoe013@gmail.com>
Date:   Mon Apr 29 15:06:53 2024 +0100

    Documentation - adding in how to run the receptionist task

commit 2f06597
Merge: c6f3a5d 62c5f74
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Apr 24 09:07:13 2024 +0100

    Merge remote-tracking branch 'upstream/main'

commit c6f3a5d
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Apr 23 17:48:19 2024 +0100

    removed a print and rename the imports.

commit a3f6db2
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Apr 23 17:35:32 2024 +0100

    Update the new names in init.

commit 9d73eb5
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Tue Apr 23 17:25:58 2024 +0100

    Update skills/src/lasr_skills/vision/image_msg_to_cv2.py

    Co-authored-by: Jared Swift <jared.swift@kcl.ac.uk>

commit 8f45600
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Tue Apr 23 17:24:40 2024 +0100

    Update skills/src/lasr_skills/vision/get_image.py

    Co-authored-by: Jared Swift <jared.swift@kcl.ac.uk>

commit 378579b
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Tue Apr 23 17:24:02 2024 +0100

    Update skills/src/lasr_skills/vision/get_image.py

    Co-authored-by: Jared Swift <jared.swift@kcl.ac.uk>

commit 9bffac0
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Apr 23 17:21:13 2024 +0100

    renamed the function.

commit c1b15b9
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Apr 23 17:14:22 2024 +0100

    Canceled the loop of getting mixed images, and renamed the keys.

commit 8ec2fa0
Merge: a761bab 38b73ad
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Apr 23 17:08:59 2024 +0100

    Merge branch 'main' of https://github.com/MBTMBTMBT/LASR_ben

commit a761bab
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Apr 23 16:57:53 2024 +0100

    Canceled the default neck coordinates and leave it to be a failure.

commit 38b73ad
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Tue Apr 23 16:53:47 2024 +0100

    Update common/vision/lasr_vision_feature_extraction/package.xml

    Co-authored-by: Jared Swift <jared.swift@kcl.ac.uk>

commit 9bcd878
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Tue Apr 23 16:52:21 2024 +0100

    Update common/helpers/numpy2message/package.xml

    Co-authored-by: Jared Swift <jared.swift@kcl.ac.uk>

commit 8c272cb
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Tue Apr 23 16:51:55 2024 +0100

    Update common/helpers/numpy2message/package.xml

    Co-authored-by: Jared Swift <jared.swift@kcl.ac.uk>

commit 8e867d1
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Apr 23 16:49:34 2024 +0100

    Fixed a stupid naming issue of feature extractor.

commit a89b50c
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Apr 19 12:13:15 2024 +0100

    changed log messages.

commit b8c00f0
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Apr 19 12:12:04 2024 +0100

    Removed useless keys from state machine.

commit 98bacaa
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Apr 19 12:05:31 2024 +0100

    Brought aruco service package back.

commit 8cd17fd
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Apr 19 12:01:03 2024 +0100

    Removed useless colour messages.

commit 625301a
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Apr 19 11:57:54 2024 +0100

    Cleaned usless comments and refilled package description.

commit 1adc395
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Apr 19 11:45:55 2024 +0100

    Removed unused files and cleaned the files.

commit 40cd1b1
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Apr 19 11:32:33 2024 +0100

    Cleaned load model method, restart to use downloaded model.

commit fbe6212
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Apr 19 11:23:54 2024 +0100

    Deleted feature extractor module

commit 6b8c917
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Apr 19 11:21:43 2024 +0100

    Merged helper functions into perdictor's file.

commit a8eadfc
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Apr 19 11:19:14 2024 +0100

    Merged model classes file into predictor's file

commit 689fd0c
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Apr 18 18:20:16 2024 +0100

    replaced the model and predictor initialization, put "__main__"

commit 44b17b2
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Apr 18 17:59:18 2024 +0100

    pcl functioned remoeved because appeared repetitively.

commit 4d969ac
Merge: 8cc1d7e a43e982
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Apr 18 14:55:26 2024 +0100

    Merge remote-tracking branch 'upstream/main'

commit 8cc1d7e
Merge: 7d1d84b 643bf89
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Thu Apr 18 13:58:58 2024 +0100

    Merge pull request #5 from MBTMBTMBT/repository-clean-mar11

    Repository clean mar11

commit 643bf89
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Apr 18 00:48:01 2024 +0100

    Replace string return with json string return.

commit 0fbe28f
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Apr 18 00:22:34 2024 +0100

    I don't really understand why this is in my branch, please ignore this commit when merge.

commit 6721361
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Mar 22 14:54:35 2024 +0000

    added a break in the loop

commit 45f8334
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Mar 22 14:51:22 2024 +0000

    Remade to achieve easier bodipix model loading

commit 216aba0
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 18:48:07 2024 +0000

    reset <arg name="whisper_device_param" default="9" />

commit f5b3cda
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 17:51:01 2024 +0000

    removed unused import, launch file and functions.

commit 4b626e9
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 17:07:41 2024 +0000

    renamed torch_module to feature_extractor

commit d7c7a00
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 17:05:39 2024 +0000

    cleaned comments

commit feb4e80
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 17:03:05 2024 +0000

    cleaned usused comments

commit d43e5ab
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 16:58:20 2024 +0000

    removed colour_estimation dependence

commit d967c51
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 16:44:09 2024 +0000

    removed colour estimation module

commit a274cdc
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 16:40:29 2024 +0000

    removed some unused code comments

commit 109201a
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 16:38:51 2024 +0000

    renamed lasr_vision_torch to lasr_vision_feature_extraction

commit 5480abc
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 16:33:32 2024 +0000

    renamed torch_module into feature_extractor

commit 703b3e8
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 16:32:06 2024 +0000

    renamed torch_module into feature_extractor (Recompile needed!!!)

commit dc3868e
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 16:26:37 2024 +0000

    removed load pretrained parameter.

commit 5765e66
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 16:25:16 2024 +0000

    removed loading the pretrained parameters

commit 8db1cb3
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Mar 11 15:30:35 2024 +0000

    Cleaned some commented code.

commit 7d1d84b
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Feb 27 17:20:10 2024 +0000

    Added a simple loop to refresh the frame taken, should work fine.

commit d4a677a
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Feb 23 17:26:09 2024 +0000

    Recover the state machine for demo.

commit 4f78c7e
Merge: 1cb2e3b ae3975c
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Fri Feb 23 17:24:16 2024 +0000

    Merge pull request #4 from MBTMBTMBT/update-model

    Update model

commit ae3975c
Merge: b91b736 1cb2e3b
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Fri Feb 23 17:23:33 2024 +0000

    Merge branch 'main' into update-model

commit b91b736
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Feb 23 17:15:42 2024 +0000

    runnable version for full demo

commit af28931
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Feb 23 16:26:14 2024 +0000

    fixed a stupic typo

commit c65ccd1
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Feb 23 16:22:47 2024 +0000

    fixed issues in the service

commit aa8ec6e
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Feb 23 15:17:56 2024 +0000

    info update

commit d66fcb3
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Feb 23 15:11:11 2024 +0000

    correct the lost module.

commit 1cb2e3b
Merge: 29060c0 205b52e
Author: tiago <example@example.com>
Date:   Fri Feb 23 14:41:51 2024 +0000

    merging

commit 3e384d1
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Feb 23 14:05:06 2024 +0000

    Replace the old model with the new one.

commit 86e7a3e
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Feb 23 13:02:43 2024 +0000

    Cleaned the file to have only one model appear.

commit 205b52e
Merge: a4bfa70 b80b040
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Sun Feb 18 17:41:32 2024 +0000

    Merge branch 'LASR-at-Home:main' into main

commit ef0a5f1
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Feb 8 17:20:41 2024 +0000

    At least the head moves, not looking at me though.

commit 29060c0
Author: tiago <example@example.com>
Date:   Mon Feb 5 13:45:56 2024 +0000

    ah

commit a15a9d9
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Feb 5 11:42:28 2024 +0000

    (Hopefully) Runnable with 3d input.

commit 6282d2d
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Feb 2 15:24:54 2024 +0000

    xyz axis readable.

commit 2ed42a4
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jan 31 17:52:00 2024 +0000

    Moving the head to meet the person.

commit c1b50a5
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Dec 14 11:10:30 2023 +0000

    retrained model is very robust so changed the threshold

commit 3c6743f
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Dec 13 21:31:40 2023 +0000

    added the hair colour distribution matching method

commit 134c870
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Dec 11 17:00:26 2023 +0000

    Runnable demo

commit 7827dc2
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 12:38:33 2023 +0000

    Cancel saving the images (but sitll cannot see use cv2.imshow)

commit 8f54363
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 12:18:48 2023 +0000

    keep the saved model

commit cc860ac
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 11:57:47 2023 +0000

    keep the model file

commit 67804ec
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 11:55:28 2023 +0000

    keep the saved model

commit c096166
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 11:05:03 2023 +0000

    Changed colour format from BGR to RGB within the detection process.

commit 77feadb
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 10:46:20 2023 +0000

    fixed that torsal and head frames were inversed.

commit e8b2012
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Dec 7 20:47:13 2023 +0000

    Updated the feature extraction node and changed the messages.

commit 47ebc7c
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Dec 7 14:32:44 2023 +0000

    fixed image crop

commit f9743ae
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Dec 7 14:25:53 2023 +0000

    fixed message writting and reading

commit 0dfc09a
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Dec 6 17:02:13 2023 +0000

    Message Change

commit 4903409
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Dec 5 18:44:38 2023 +0000

    Test

commit d0c27e2
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Dec 5 18:34:55 2023 +0000

    Test

commit 684d51b
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Dec 5 18:30:30 2023 +0000

    testtesttest

commit 2a1e8d7
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Feb 5 12:22:39 2024 +0000

    Try to move the head.

commit a4bfa70
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Feb 5 12:20:05 2024 +0000

    Speak normally.

commit ecd469e
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Feb 5 11:42:28 2024 +0000

    (Hopefully) Runnable with 3d input.

commit 98535a0
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Feb 2 15:24:54 2024 +0000

    xyz axis readable.

commit 9343487
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Jan 31 17:52:00 2024 +0000

    Moving the head to meet the person.

commit e19e9df
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Dec 14 11:10:30 2023 +0000

    retrained model is very robust so changed the threshold

commit 5b034f6
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Dec 13 21:31:40 2023 +0000

    added the hair colour distribution matching method

commit 9bca082
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Mon Dec 11 17:00:26 2023 +0000

    Runnable demo

commit 5654c3c
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 12:38:33 2023 +0000

    Cancel saving the images (but sitll cannot see use cv2.imshow)

commit 8291007
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 12:18:48 2023 +0000

    keep the saved model

commit 8f29414
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 11:57:47 2023 +0000

    keep the model file

commit d4ba82c
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 11:55:28 2023 +0000

    keep the saved model

commit 2d88e78
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 11:05:03 2023 +0000

    Changed colour format from BGR to RGB within the detection process.

commit 4fa8ced
Merge: d4581c7 7e3c7af
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Fri Dec 8 10:50:27 2023 +0000

    Merge pull request #3 from MBTMBTMBT/12_6

    fixed that torsal and head frames were inversed.

commit 7e3c7af
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Fri Dec 8 10:46:20 2023 +0000

    fixed that torsal and head frames were inversed.

commit d4581c7
Merge: a807b48 4ed5176
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Thu Dec 7 20:51:26 2023 +0000

    Merge pull request #2 from MBTMBTMBT/12_6

    12 6

commit 4ed5176
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Dec 7 20:47:13 2023 +0000

    Updated the feature extraction node and changed the messages.

commit 5818b5e
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Dec 7 14:32:44 2023 +0000

    fixed image crop

commit 6452c1d
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Thu Dec 7 14:25:53 2023 +0000

    fixed message writting and reading

commit a807b48
Merge: 5fe6a93 768ad46
Author: MBT <59250708+MBTMBTMBT@users.noreply.github.com>
Date:   Wed Dec 6 17:04:54 2023 +0000

    Merge pull request #1 from MBTMBTMBT/12_6

    Message Change

commit 768ad46
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Wed Dec 6 17:02:13 2023 +0000

    Message Change

commit 5fe6a93
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Dec 5 18:44:38 2023 +0000

    Test

commit a8f97ce
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Dec 5 18:34:55 2023 +0000

    Test

commit 0751e37
Author: Benteng Ma <benteng.ma@kcl.ac.uk>
Date:   Tue Dec 5 18:30:30 2023 +0000

    testtesttest

Loading branch information

jws-1 committed Jul 4, 2024

1 parent e0f30ef commit 67f48d9

common/speech/lasr_speech_recognition_whisper/scripts/microphone_tuning_test.py

100755 → 100644

Empty file.

common/speech/lasr_speech_recognition_whisper/scripts/test_microphones.py

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -34,7 +34,7 @@ def main(args: dict) -> None:
  
        output_dir = args["output_dir"]

        r = sr.Recognizer()

        with sr.Microphone(device_index=mic_index) as source:

        with sr.Microphone(device_index=13,sample_rate=16000) as source:

            print("Say something!")

            audio = r.listen(source, timeout=5, phrase_time_limit=5)

            print("Finished listening")

common/vision/lasr_vision_bodypix/src/lasr_vision_bodypix/bodypix.py

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -12,7 +12,7 @@
  
    from sensor_msgs.msg import Image as SensorImage

    from lasr_vision_msgs.msg import BodyPixMask, BodyPixKeypoint

    from lasr_vision_msgs.msg import BodyPixMask, BodyPixKeypoint, BodyPixKeypointNormalized

    from lasr_vision_msgs.srv import (

        BodyPixMaskDetectionRequest,

        BodyPixMaskDetectionResponse,

    @@ -23,7 +23,11 @@
  
    import rospkg

    # model cache

    loaded_models = {}

    # preload resnet 50 model so that it won't waste the time 

    # doing that in the middle of the task.

    loaded_models = {

        "resnet50": load_model(download_model(BodyPixModelPaths.RESNET50_FLOAT_STRIDE_16))

    }

    r = rospkg.RosPack()

    @@ -143,15 +147,21 @@ def detect_keypoints(
  
        poses = result.get_poses()

        detected_keypoints: List[BodyPixKeypoint] = []

        detected_keypoints_normalized: List[BodyPixKeypointNormalized] = []

        for pose in poses:

            for keypoint in pose.keypoints.values():

                # Check if keypoint is in the mask

                x = int(keypoint.position.x)

                y = int(keypoint.position.y)

                try:

                    if mask[y, x] == 0:

                        continue

                    # if mask[y, x] == 0:

                    #     continue

                    if not request.keep_out_of_bounds:

                        if x < 0.0 or y < 0.0:

                            continue

                        if x >= mask.shape[1] or y >= mask.shape[0]:

                            continue

                # Throws an error if the keypoint is out of bounds

                # but not clear what type (some TF stuff)

                except:

    @@ -160,6 +170,9 @@ def detect_keypoints(
  
                detected_keypoints.append(

                    BodyPixKeypoint(keypoint_name=keypoint.part, x=x, y=y)

                )

                detected_keypoints_normalized.append(

                    BodyPixKeypointNormalized(keypoint_name=keypoint.part, x=float(x)/mask.shape[1], y=float(y)/mask.shape[0])

                )

        # publish to debug topic

        if debug_publisher is not None:

    @@ -179,7 +192,7 @@ def detect_keypoints(
  
                cv2.putText(

                    coloured_mask,

                    f"{keypoint.keypoint_name}",

                    (keypoint.x, keypoint.y),

                    (int(keypoint.x), int(keypoint.y)),

                    cv2.FONT_HERSHEY_SIMPLEX,

                    0.5,

                    (255, 255, 255),

    @@ -188,4 +201,4 @@ def detect_keypoints(
  
                )

            debug_publisher.publish(cv2_img.cv2_img_to_msg(coloured_mask))

        return BodyPixKeypointDetectionResponse(keypoints=detected_keypoints)

        return BodyPixKeypointDetectionResponse(keypoints=detected_keypoints, normalized_keypoints=detected_keypoints_normalized)

...sion/lasr_vision_cropped_detection/src/lasr_vision_cropped_detection/cropped_detection.py

-Original file line number
+Diff line change
@@ Expand Up / @@ -386,7 +386,7 @@ def process_single_detection_request( @@
                 cropped_images, detections, distances = _3d_bbox_crop(
                     pointcloud_rgb,
                     request.method,
-                    request.robot_location,
+                    robot_location,
                     detections,
                 )
             response.detections_3d = detections
@@ Expand Down @@

common/vision/lasr_vision_msgs/CMakeLists.txt

-Original file line number
+Diff line change
@@ Expand Up / @@ -48,6 +48,7 @@ add_message_files( @@
       Detection.msg
       Detection3D.msg
       BodyPixKeypoint.msg
+      BodyPixKeypointNormalized.msg
       BodyPixMask.msg
       CDRequest.msg
       CDResponse.msg
@@ Expand Down @@

common/vision/lasr_vision_msgs/msg/BodyPixKeypointNormalized.msg

-Original file line number
+Diff line change
@@ -0,0 +1,8 @@
+    # Keypoint.msg
+    # name of the keypoint
+    string keypoint_name
+    # the x and y coordinates of the body part
+    float32 x
+    float32 y

common/vision/lasr_vision_msgs/srv/BodyPixKeypointDetection.srv

-Original file line number
+Diff line change
@@ Expand Up / @@ -7,6 +7,12 @@ string dataset @@
     # How certain the detection should be to include
     float32 confidence
+    # Whether to return keypoints that are out of bound
+    bool keep_out_of_bounds
     ---
     # keypoints
     lasr_vision_msgs/BodyPixKeypoint[] keypoints
+    # keypoints
+    lasr_vision_msgs/BodyPixKeypointNormalized[] normalized_keypoints

skills/CMakeLists.txt

-Original file line number
+Diff line change
@@ Expand Up / @@ -161,6 +161,7 @@ include_directories( @@
     ## in contrast to setup.py, you can choose the destination
     catkin_install_python(PROGRAMS
       scripts/unit_test_describe_people.py
+      scripts/unit_test_adjust_camera.py
       DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     )
@@ Expand Down @@

skills/config/motions.yaml

-Original file line number
+Diff line change
@@ Expand Up / @@ -79,4 +79,66 @@ play_motion: @@
           joints: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
           points:
           - positions: [2.63, 0.10, -3.21, 1.61, 1.53, 0.00, 0.13]
-            time_from_start: 0.0
+            time_from_start: 0.0
+        u3l:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.4, 0.35, 0.15]
+            time_from_start: 0.0
+        u3m:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.4, 0.0, 0.15]
+            time_from_start: 0.0
+        u3r:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.4, -0.35, 0.15]
+            time_from_start: 0.0
+        u2l:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.4, 0.35, 0.05]
+            time_from_start: 0.0
+        u2m:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.4, 0.0, 0.05]
+            time_from_start: 0.0
+        u2r:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.4, -0.35, 0.05]
+            time_from_start: 0.0
+        u1l:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.3, 0.35, 0.05]
+            time_from_start: 0.0
+        u1m:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.3, 0.0, 0.05]
+            time_from_start: 0.0
+        u1r:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.3, -0.35, 0.05]
+            time_from_start: 0.0
+        ml:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.2, 0.35, 0.0]
+            time_from_start: 0.0
+        mm:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.2, 0.0, 0.0]
+            time_from_start: 0.0
+        mr:
+          joints: [torso_lift_joint, head_1_joint, head_2_joint]
+          points:
+          - positions: [0.2, -0.35, 0.0]
+            time_from_start: 0.0

skills/launch/unit_test_describe_people.launch

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -16,10 +16,12 @@
  
        <node pkg="lasr_vision_feature_extraction" type="service" name="torch_service" output="screen"/>

        <node name="yolo" pkg="lasr_vision_yolov8" type="service" output="screen"/>

        <node name="cropped_detection" pkg="lasr_vision_cropped_detection" type="service.py" output="screen"/>

       <include file="$(find video_stream_opencv)/launch/camera.launch">

       <!--<include file="$(find video_stream_opencv)/launch/camera.launch">

            <arg name="visualize" value="true" />

       </include>

       </include>-->

        <!-- <arg name="file" doc="Video file to run inference on" />

       <include file="$(find video_stream_opencv)/launch/camera.launch">

            <arg name="video_stream_provider" value="$(arg file)" />

skills/scripts/unit_test_adjust_camera.py

-Original file line number
+Diff line change
@@ -0,0 +1,18 @@
+    #!/usr/bin/env python3
+    import smach
+    import rospy
+    from lasr_skills import AdjustCamera
+    if __name__ == "__main__":
+        rospy.init_node("test_adjust_camera")
+        sm = smach.StateMachine(outcomes=["end"], output_keys=[])
+        with sm:
+            sm.add(
+                "AdjustCamera",
+                AdjustCamera(debug=True),
+                transitions={"finished": "end", "failed": "end", "truncated": "end"},
+            )
+        sm.execute()
+        rospy.signal_shutdown("down")

skills/src/lasr_skills/__init__.py

-Original file line number
+Diff line change
@@ Expand Up / @@ -23,3 +23,4 @@ @@
     from .look_at_person import LookAtPerson
     from .wait import Wait
     from .find_gesture_person import FindGesturePerson
+    from .adjust_camera import AdjustCamera

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