Merge branch 'master' into fix-move-hand-tm

.travis.rosinstall.melodic

@@ -12,10 +12,6 @@
     local-name: baxter_tools
     uri: https://github.com/RethinkRobotics-release/baxter_tools-release/archive/release/indigo/baxter_tools/1.2.0-0.tar.gz
     version: baxter_tools-release-release-indigo-baxter_tools-1.2.0-0
-- tar:
-    local-name: jsk_3rdparty/rostwitter
-    uri: https://github.com/tork-a/jsk_3rdparty-release/archive/release/indigo/rostwitter/2.1.10-0.tar.gz
-    version: jsk_3rdparty-release-release-indigo-rostwitter-2.1.10-0
 - tar:
     local-name: jsk_demos/jsk_demo_common
     uri: https://github.com/tork-a/jsk_demos-release/archive/release/indigo/jsk_demo_common/0.0.4-0.tar.gz
@@ -32,18 +28,10 @@
     local-name: jsk_robot/jsk_baxter_startup
     uri: https://github.com/tork-a/jsk_robot-release/archive/release/indigo/jsk_baxter_startup/1.1.0-1.tar.gz
     version: jsk_robot-release-release-indigo-jsk_baxter_startup-1.1.0-1
-- tar:
-    local-name: jsk_roseus/roseus_mongo
-    uri: https://github.com/tork-a/jsk_roseus-release/archive/release/indigo/roseus_mongo/1.6.3-0.tar.gz
-    version: jsk_roseus-release-release-indigo-roseus_mongo-1.6.3-0
 - tar:
     local-name: moveit_robots/baxter_moveit_config
     uri: https://github.com/ros-gbp/moveit_robots-release/archive/release/indigo/baxter_moveit_config/1.0.7-0.tar.gz
     version: moveit_robots-release-release-indigo-baxter_moveit_config-1.0.7-0
-- tar:
-    local-name: pr2_gripper_sensor/pr2_gripper_sensor_msgs
-    uri: https://github.com/pr2-gbp/pr2_gripper_sensor-release/archive/release/indigo/pr2_gripper_sensor_msgs/1.0.9-0.tar.gz
-    version: pr2_gripper_sensor-release-release-indigo-pr2_gripper_sensor_msgs-1.0.9-0
 - tar:
     local-name: baxter_interface
     uri: https://github.com/RethinkRobotics-release/baxter_interface-release/archive/release/indigo/baxter_interface/1.2.0-0.tar.gz

.travis.yml

@@ -1,17 +1,16 @@
-sudo: required
-
+sudo: true
+dist: bionic
+language: python
 services:
   - docker
-
-dist: trusty
-
-language: c++ # to avoid using /opt/python from travis
-
 # for Travis {{{
 cache:
+  apt: true
+  pip: true
   directories:
     - $HOME/.ccache
     - $HOME/.cache/pip
+    - $HOME/apt-cacher-ng
     - $HOME/.ros/data
 # }}}
 

README.md

@@ -8,7 +8,7 @@ jsk\_apc
 [![Gitter](https://badges.gitter.im/start-jsk/jsk_apc.svg)](https://gitter.im/start-jsk/jsk_apc?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge)
 [![Slack](https://img.shields.io/badge/slack-%23jsk__apc-e100e1.svg)](https://jsk-robotics.slack.com/messages/jsk_apc/)
 [![Documentation Status](https://readthedocs.org/projects/jsk-apc/badge/?version=latest)](http://jsk-apc.readthedocs.org/en/latest/?badge=latest)
-[![Docker Build Status](https://img.shields.io/docker/build/jskrobotics/jsk_apc.svg)](https://hub.docker.com/r/jskrobotics/jsk_apc)
+[![Docker Cloud Build Status](https://img.shields.io/docker/cloud/build/jskrobotics/jsk_apc)](https://hub.docker.com/r/jskrobotics/jsk_apc)
 **Forum** ([baxter](https://groups.google.com/a/jsk.imi.i.u-tokyo.ac.jp/forum/#!forum/baxter), [apc](https://groups.google.com/a/jsk.imi.i.u-tokyo.ac.jp/forum/#!forum/apc))
 
 

demos/grasp_data_generator/.gitignore

@@ -0,0 +1,114 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# dotenv
+.env
+
+# virtualenv
+.venv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+data/objects
+data/training_data
+data/valid/
+data/sampling_data
+data/finetuning_data
+data/pretrained_model
+data/compressed
+data/models
+data/occlusion_dataset
+data/evaluation_data
+out/
+out_viz/

demos/grasp_data_generator/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2017 Shingo Kitagawa
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

demos/grasp_data_generator/README.md

@@ -0,0 +1,60 @@
+# Automatic dataset generation and training for dual-arm grasping 
+
+## Installation
+
+```bash
+pip install --user -e .
+```
+
+## Advanced Robotics 2020: Selective dual-arm occluded grasping
+
+### Generating datasets
+
+Read [scripts/README.md](./scripts/README.md)
+
+
+### Training OccludedGraspMaskRCNN with datasets
+
+Read [experiments/occluded_grasp_mask_rcnn/README.md](./experiments/occluded_grasp_mask_rcnn/README.md)
+
+## Citation
+
+```bib
+@article{doi:10.1080/01691864.2020.1783352,
+  author = {Shingo Kitagawa and Kentaro Wada and Shun Hasegawa and Kei Okada and Masayuki Inaba},
+  title = {Few-experiential learning system of robotic picking task with selective dual-arm grasping},
+  journal = {Advanced Robotics},
+  volume = {34},
+  number = {18},
+  pages = {1171-1189},
+  year  = {2020},
+  publisher = {Taylor & Francis},
+  doi = {10.1080/01691864.2020.1783352},
+  URL = {https://doi.org/10.1080/01691864.2020.1783352},
+  eprint = {https://doi.org/10.1080/01691864.2020.1783352}
+}
+```
+
+## IROS2018: Selective dual-arm grasping
+
+### Generating datasets
+
+Read [scripts/README.md](./scripts/README.md)
+
+
+### Training DualarmGraspFCN with datasets
+
+Read [experiments/dualarm_grasp_fcn/README.md](./experiments/dualarm_grasp_fcn/README.md)
+
+## Citation
+
+```bib
+@inproceedings{SelectiveDualarmGrasping:IROS2018,
+  author={Shingo Kitagawa and Kentaro Wada and Shun Hasegawa and Kei Okada and Masayuki Inaba},
+  booktitle={Proceedings of The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+  title={Multi-stage Learning of Selective Dual-arm Grasping Based on Obtaining and Pruning Grasping Points Through the Robot Experience in the Real World},
+  year={2018},
+  month={october},
+  pages={7123-7130},
+}
+```

demos/grasp_data_generator/experiments/README.md

@@ -0,0 +1,17 @@
+# Training and evaluation for models 
+
+## `grasp_fcn`: FCN with grasping point detection
+
+Please read [experiments/grasp_fcn/README.md](./grasp_fcn/README.md)
+
+## `dualarm_grasp_fcn`: FCN with dual-arm grasping point detection
+
+Please read [experiments/dualarm_grasp_fcn/README.md](./dualarm_grasp_fcn/README.md)
+
+## `occluded_mask_rcnn`: Mask-RCNN with occlusion recognition 
+
+Please read [experiments/occluded_mask_rcnn/README.md](./occluded_mask_rcnn/README.md)
+
+## `occluded_grasp_mask_rcnn`: Mask-RCNN with occlusion recognition and dual-arm grasping point detection
+
+Please read [experiments/occluded_grasp_mask_rcnn/README.md](./occluded_grasp_mask_rcnn/README.md)

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/.gitignore

@@ -0,0 +1 @@
+logs

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/README.md

@@ -0,0 +1,7 @@
+# `dualarm_grasp_fcn`: FCN with dual-arm grasping point detection
+
+## Training
+
+```bash
+python train_dualarm_grasp_fcn32s.py --gpu 0 --config ./cfg/config.yaml
+```

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201709061826_config.yaml

@@ -0,0 +1,8 @@
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 100000
+weight_decay: 0.0005
+alpha:
+    single: 1.0
+    dual: 1.0
+random_state: 1234

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201709081604_config.yaml

@@ -0,0 +1,8 @@
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 100000
+weight_decay: 0.0005
+alpha:
+    single: 10.0
+    dual: 10.0
+random_state: 1234

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201709082320_config.yaml

@@ -0,0 +1,8 @@
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 200000
+weight_decay: 0.0005
+alpha:
+    single: 100.0
+    dual: 100.0
+random_state: 1234

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201709091542_config.yaml

@@ -0,0 +1,8 @@
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 100000
+weight_decay: 0.0005
+alpha:
+    single: 500.0
+    dual: 500.0
+random_state: 1234

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201709102200_config.yaml

@@ -0,0 +1,9 @@
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 200000
+modelpath: out/20170909_154314/models/DualarmGraspFCN32s_iter00148000.npz
+weight_decay: 0.0005
+alpha:
+    single: 100.0
+    dual: 100.0
+random_state: 1234

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201709102205_config.yaml

@@ -0,0 +1,8 @@
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 200000
+weight_decay: 0.0005
+alpha:
+    single: 300.0
+    dual: 300.0
+random_state: 1234

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201709120008_config.yaml

@@ -0,0 +1,9 @@
+alpha:
+    single: 1.0
+    dual: 1.0
+frequency_balancing: True
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 200000
+random_state: 1234
+weight_decay: 0.0005

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201709120220_config.yaml

@@ -0,0 +1,9 @@
+alpha:
+    single: 10.0
+    dual: 10.0
+frequency_balancing: True
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 200000
+random_state: 1234
+weight_decay: 0.0005

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201801242025_config.yaml

@@ -0,0 +1,10 @@
+alpha:
+    single: 1.0
+    dual: 1.0
+dataset_class: 'DualarmGraspDatasetV3'
+frequency_balancing: True
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 200000
+random_state: 1234
+weight_decay: 0.0005

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201801291810_config.yaml

@@ -0,0 +1,10 @@
+alpha:
+    single: 1.0
+    dual: 1.0
+dataset_class: 'DualarmGraspDatasetV4'
+frequency_balancing: True
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 200000
+random_state: 1234
+weight_decay: 0.0005

demos/grasp_data_generator/experiments/dualarm_grasp_fcn/cfg/201802161551_config.yaml

@@ -0,0 +1,10 @@
+alpha:
+    single: 1.0
+    dual: 1.0
+dataset_class: 'DualarmGraspDatasetV5'
+frequency_balancing: True
+model: 'dualarm_grasp_fcn32s'
+lr: 1.0e-5
+max_iter: 100000
+random_state: 1234
+weight_decay: 0.0005