How to use reset_object method in toolium

Best Python code snippet using toolium_python

collision_map_interface.py

Source:collision_map_interface.py

1#! /usr/bin/python2# Software License Agreement (BSD License)3#4# Copyright (c) 2009, Willow Garage, Inc.5# All rights reserved.6#7# Redistribution and use in source and binary forms, with or without8# modification, are permitted provided that the following conditions9# are met:10#11#  * Redistributions of source code must retain the above copyright12#    notice, this list of conditions and the following disclaimer.13#  * Redistributions in binary form must reproduce the above14#    copyright notice, this list of conditions and the following15#    disclaimer in the documentation and/or other materials provided16#    with the distribution.17#  * Neither the name of the Willow Garage nor the names of its18#    contributors may be used to endorse or promote products derived19#    from this software without specific prior written permission.20#21# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS22# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT23# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS24# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE25# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,26# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,27# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;28# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER29# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT30# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN31# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE32# POSSIBILITY OF SUCH DAMAGE.33#34# author: Kaijen Hsiao35## @package collision_map_interface36# Python version of collision_map_interface.cpp37# Functions that take and reset the collision map, and add, remove, attach38# or detach objects39#import roslib; roslib.load_manifest('tabletop_collision_map_processing')40import random, time, math, scipy, pdb41import rospy42#from arm_navigation_msgs.msg import Shape43from pr2_gripper_grasp_planner_cluster.msg import Shape44from tabletop_object_detector.msg import Table45#from arm_navigation_msgs.msg import MakeStaticCollisionMapAction, MakeStaticCollisionMapGoal46from pr2_gripper_grasp_planner_cluster.msg import MakeStaticCollisionMapAction, MakeStaticCollisionMapGoal47#from arm_navigation_msgs.msg import CollisionObject, AttachedCollisionObject, CollisionObjectOperation48from pr2_gripper_grasp_planner_cluster.msg import AttachedCollisionObject, CollisionObject, CollisionObjectOperation49from actionlib_msgs.msg import GoalStatus50from std_srvs.srv import Empty, EmptyRequest51import actionlib52import tf53from geometry_msgs.msg import PoseStamped, Point, Quaternion, Pose54#from arm_navigation_msgs.srv import SetPlanningSceneDiff, SetPlanningSceneDiffRequest55#from pr2_gripper_grasp_planner_cluster.msg import SetPlanningSceneDiff, SetPlanningSceneDiffRequest56#interface to the collision map57class CollisionMapInterface():58    def __init__(self):59        #set up service clients, publishers, and action clients        60        rospy.loginfo("advertising on collision object topics")61        self.object_in_map_pub = rospy.Publisher("collision_object", CollisionObject)62        self.attached_object_pub = rospy.Publisher("attached_collision_object", AttachedCollisionObject)63        rospy.loginfo("waiting for collision map reset service")64        rospy.wait_for_service("collider_node/reset")65        rospy.loginfo("found collision map reset service")66        self.reset_collision_map_srv = rospy.ServiceProxy("collider_node/reset", Empty)67        rospy.loginfo("waiting for set planning scene diff service")68        rospy.wait_for_service("environment_server/set_planning_scene_diff")69        self.set_planning_scene_srv = rospy.ServiceProxy("environment_server/set_planning_scene_diff", SetPlanningSceneDiff)70        self.object_in_map_current_id = 071        rospy.loginfo("done initializing collision map interface")72    ##set the planning scene (so IK and move_arm can run)73    def set_planning_scene(self, ordered_collision_ops = None, link_padding = None):74        req = SetPlanningSceneDiffRequest()75        if ordered_collision_ops != None:76            req.operations = ordered_collision_ops77        if link_padding != None:78            req.planning_scene_diff.link_padding = link_padding79        try:80            resp = self.set_planning_scene_srv(req)81        except:82            rospy.logerr("error in calling set_planning_scene_diff!")83            return 084        return 185    ##clear everything in the octomap86    def clear_octomap(self):87        self.reset_collision_map_srv()88    ##reset all the current collision objects89    def reset_collision_map(self):90        #remove all objects91        reset_object = CollisionObject()92        reset_object.operation.operation = CollisionObjectOperation.REMOVE93        reset_object.header.frame_id = "base_link"94        reset_object.header.stamp = rospy.Time.now()95        reset_object.id = "all"96        self.object_in_map_pub.publish(reset_object)97        #and all attached objects98        reset_attached_objects = AttachedCollisionObject()99        reset_attached_objects.link_name = "all"100        reset_attached_objects.object.header.frame_id = "base_link"101        reset_attached_objects.object.header.stamp = rospy.Time.now()102        reset_attached_objects.object = reset_object103        self.attached_object_pub.publish(reset_attached_objects)104        #and clear the octomap105        self.clear_octomap()106        rospy.loginfo("collision objects reset")107        self.object_in_map_current_id = 0.108        return 1109    ##attaches an object to the gripper for the purposes of collision-aware 110    #motion planning111    def attach_object_to_gripper(self, object_name, whicharm = 'r'):112        obj = AttachedCollisionObject()113        114        obj.link_name = whicharm+"_gripper_r_finger_tip_link"115        obj.object.operation.operation = CollisionObjectOperation.ATTACH_AND_REMOVE_AS_OBJECT116        obj.object.header.stamp = rospy.Time.now()117        obj.object.header.frame_id = "base_link"118        obj.object.id = object_name119        touch_links = ["_gripper_palm_link", "_gripper_r_finger_tip_link", "_gripper_l_finger_tip_link", "_gripper_l_finger_link", "_gripper_r_finger_link"]120        obj.touch_links = [whicharm+link for link in touch_links]121        self.attached_object_pub.publish(obj)122    ##detaches all objects from the gripper 123    #(removes from collision space entirely)124    def detach_all_objects_from_gripper(self, whicharm = 'r'):125        rospy.loginfo("detaching all objects from gripper %s"%whicharm)126        obj = AttachedCollisionObject()127        obj.object.header.stamp = rospy.Time.now()128        obj.object.header.frame_id = "base_link"129        obj.link_name = whicharm+"_gripper_r_finger_tip_link"130        obj.object.operation.operation = CollisionObjectOperation.REMOVE131        self.attached_object_pub.publish(obj)132        133    ##detaches all objects from the gripper 134    #(adds back as objects in the collision space where they are now)135    #object_collision_name is the original name for the collision object136    def detach_and_add_back_objects_attached_to_gripper(self, whicharm = 'r', object_collision_name = None):137        rospy.loginfo("detaching all objects from gripper %s and adding them back to the collision map"%whicharm)138        if object_collision_name == None:139            rospy.loginfo("need to specify the object name!  Detaching and not adding back object.")140            self.detach_all_objects_from_gripper(whicharm)141            return142        obj = AttachedCollisionObject()143        obj.object.header.stamp = rospy.Time.now()144        obj.object.header.frame_id = "base_link"145        obj.link_name = whicharm+"_gripper_r_finger_tip_link"146        obj.object.id = object_collision_name147        obj.object.operation.operation = CollisionObjectOperation.DETACH_AND_ADD_AS_OBJECT148        self.attached_object_pub.publish(obj)149    ##convert a Pose message to a 4x4 scipy matrix150    def pose_to_mat(self, pose):151        quat = [pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w]152        pos = scipy.matrix([pose.position.x, pose.position.y, pose.position.z]).T153        mat = scipy.matrix(tf.transformations.quaternion_matrix(quat))154        mat[0:3, 3] = pos155        return mat156    #convert a 4x4 scipy matrix to a Pose message157    def mat_to_pose(self, mat):158        pose = Pose()159        pose.position.x = mat[0,3]160        pose.position.y = mat[1,3]161        pose.position.z = mat[2,3]162        quat = tf.transformations.quaternion_from_matrix(mat)163        pose.orientation.x = quat[0]164        pose.orientation.y = quat[1]165        pose.orientation.z = quat[2]166        pose.orientation.w = quat[3]167        return pose168    #adds the table to the map169    def process_collision_geometry_for_table(self, firsttable, additional_tables = []):170        table_object = CollisionObject()171        table_object.operation.operation = CollisionObjectOperation.ADD172        table_object.header.frame_id = firsttable.pose.header.frame_id173        table_object.header.stamp = rospy.Time.now()174        #create a box for each table175        for table in [firsttable,]+additional_tables:176            object = Shape()177            object.type = Shape.BOX;178            object.dimensions.append(math.fabs(table.x_max-table.x_min))179            object.dimensions.append(math.fabs(table.y_max-table.y_min))180            object.dimensions.append(0.01)181            table_object.shapes.append(object)182  183        #set the origin of the table object in the middle of the firsttable184        table_mat = self.pose_to_mat(firsttable.pose.pose)185        table_offset = scipy.matrix([(firsttable.x_min + firsttable.x_max)/2.0, (firsttable.y_min + firsttable.y_max)/2.0, 0.0]).T186        table_offset_mat = scipy.matrix(scipy.identity(4))187        table_offset_mat[0:3,3] = table_offset188        table_center = table_mat * table_offset_mat189        origin_pose = self.mat_to_pose(table_center)190        table_object.poses.append(origin_pose)191        table_object.id = "table"192        self.object_in_map_pub.publish(table_object)193    ##return the next unique collision object name194    def get_next_object_name(self):195        string = "graspable_object_"+str(self.object_in_map_current_id)196        self.object_in_map_current_id += 1197        return string198    ##adds a single box to the map199    def add_collision_box(self, box_pose, box_dims, frame_id, collision_name):200        201        rospy.loginfo("adding box to collision map")202        box = CollisionObject()203        box.operation.operation = CollisionObjectOperation.ADD204        box.header.frame_id = frame_id205        box.header.stamp = rospy.Time.now()206        shape = Shape()207        shape.type = Shape.BOX208        shape.dimensions = box_dims209        box.shapes.append(shape)210        box.poses.append(box_pose)211        box.id = collision_name212        self.object_in_map_pub.publish(box)213    ##adds a cluster to the map as a bunch of small boxes214    def process_collision_geometry_for_cluster(self, cluster):215        rospy.loginfo("adding cluster with %d points to collision map"%len(cluster.points))216        many_boxes = CollisionObject()217        218        many_boxes.operation.operation = CollisionObjectOperation.ADD219        many_boxes.header = cluster.header220        many_boxes.header.stamp = rospy.Time.now()221        num_to_use = int(len(cluster.points)/100.0)222        random_indices = range(len(cluster.points))223        scipy.random.shuffle(random_indices)224        random_indices = random_indices[0:num_to_use]225        for i in range(num_to_use):226            shape = Shape()227            shape.type = Shape.BOX228            shape.dimensions = [.005]*3229            pose = Pose()230            pose.position.x = cluster.points[random_indices[i]].x231            pose.position.y = cluster.points[random_indices[i]].y232            pose.position.z = cluster.points[random_indices[i]].z233            pose.orientation = Quaternion(*[0,0,0,1])234            many_boxes.shapes.append(shape)235            many_boxes.poses.append(pose)236        237        collision_name = self.get_next_object_name()238        many_boxes.id = collision_name239        self.object_in_map_pub.publish(many_boxes)240        return collision_name241    ##remove a single collision object from the map242    def remove_collision_object(self, collision_name):243        reset_object = CollisionObject()244        reset_object.operation.operation = CollisionObjectOperation.REMOVE245        reset_object.header.frame_id = "base_link"246        reset_object.header.stamp = rospy.Time.now()247        reset_object.id = collision_name...

reset_password.py

Source:reset_password.py

1import re2import base643import jwt4from django.conf import settings5from django.utils import timezone6from rest_framework import serializers7from account.models.reset_password import ResetPasswordRequest8from account.models.user import CustomUser9valid_password_pattern = re.compile(10    "^(?=.*\d)(?=.*[!@#$%^&*~])(?=.*[a-z])(?=.*[A-Z]).{8,}$")11class ResetPasswordSerializer(serializers.Serializer):12    email = serializers.EmailField(write_only=True)13    def save(self):14        """15        We do not want to give out detailed information to not aid16        hackers17        """18        email = self.validated_data.get("email", None)19        if email and not CustomUser.objects.filter(email=email.lower()).exists():20            return21        user = CustomUser.objects.get(email=email.lower())22        instance = ResetPasswordRequest.objects.create(user=user)23        # send email to user24        user.send_email()25        return26class ValidateResetRequest(serializers.Serializer):27    secret = serializers.CharField(max_length=200, required=True)28    password = serializers.CharField(max_length=64, required=True)29    def validate_password(self, value):30        if valid_password_pattern.match(value) is None:31            raise serializers.ValidationError(32                "Password must contain numbers, symbols, \33                    upper and lower case letters and should \34                        at least be of 8 characters")35        return value36    def verify(self, validated_data):37        response = {"successful": True, }38        secret = settings.SECRET_KEY39        secret_bytes = secret.encode('ascii')40        encryption_secret = base64.b64encode(secret_bytes)41        decoded_request = None42        try:43            decoded_request = jwt.decode(44                validated_data.get("secret"),45                encryption_secret,46                algorithms=["HS256"]47            )48        except Exception as e:49            # logger.error(e)50            raise serializers.ValidationError("Kindly check, the secret key is not valid!")51        if decoded_request is not None:52            reset_object = ResetPasswordRequest.objects.filter(53                pk=decoded_request["request_id"],54                expired=False,55                used=False56            ).first()57            if reset_object:58                reset_object.user.set_password(validated_data.get("password"))59                reset_object.user.save()60                reset_object.used = True61                reset_object.save()62            else:63                raise serializers.ValidationError("Your request to change password has " \64                    "expired. Kindly generate a new password reset request.")...

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