def __init__(self, robotSystem):
TaskUserPanel.__init__(self, windowTitle='Sit/Stand')
self.robotSystem = robotSystem
self.sitStandPlanner = SitStandPlanner(robotSystem.ikServer, robotSystem)
self.addDefaultProperties()
self.addButtons()
self.addTasks()
def __init__(self, robotSystem):
TaskUserPanel.__init__(self, windowTitle='Platform Task')
self.robotSystem = robotSystem
self.platformPlanner = PolarisPlatformPlanner(robotSystem.ikServer, robotSystem)
self.addButtons()
self.addDefaultProperties()
self.addTasks()
def __init__(self, robotSystem):
TaskUserPanel.__init__(self, windowTitle='Surprise Task')
self.planner = SurpriseTaskPlanner(robotSystem)
self.switchPlanner = switchplanner.SwitchPlanner(robotSystem)
self.fitter = ImageFitter(self.switchPlanner)
self.initImageView(self.fitter.imageView)
self.addDefaultProperties()
self.addButtons()
self.addSwitchTasks()
def __init__(self, mappingDemo, mappingPanel):
TaskUserPanel.__init__(self, windowTitle='Room Mapping')
self.mappingDemo = mappingDemo
self.mappingPanel = mappingPanel
#self.addDefaultProperties()
self.addButtons()
self.addTasks()
self.fitter = MappingImageFitter(self.mappingDemo)
self.initImageView(self.fitter.imageView)
def __init__(self, robotSystem, imageView):
TaskUserPanel.__init__(self, windowTitle='Task Panel')
rt.robotSystem = robotSystem
iiwaplanning.init(robotSystem)
self.planner = MyPlanner(robotSystem, self.params)
self.fitter = ImageFitter(self.planner, imageView)
self.initImageView(self.fitter.imageView)
self.addDefaultProperties()
self.addButtons()
self.addTasks()
def __init__(self, robotSystem, optitrack_vis):
TaskUserPanel.__init__(self, windowTitle='Task Panel')
robottasks.robotSystem = robotSystem
iiwaplanning.init(robotSystem)
self.planner = myplanner.MyPlanner(robotSystem, self.params)
self.ui.imageFrame.hide()
self.robotSystem = robotSystem
# Robot toy dimensions
self._default_target_dimensions = [0.06, 0.02, 0.09]
# Water bottle dimensions
#self._default_target_dimensions = [0.07, 0.07, 0.22]
# Squishy ball dimensions
#
# TODO(sam.creasey): Why does the squishy ball generate such
# weird / bound up plans at position 1?
#self._default_target_dimensions = [0.06, 0.06, 0.06]
self.addManualButton('add grasp frames', self.addGraspFrameFromList)
self.addManualButton('plan pregrasp', self.planner.planPreGrasp)
self.addManualButton('plan grasp', self.planner.planGrasp)
self.params.addProperty(
self.rigid_body_target_name,
0,
attributes=propertyset.PropertyAttributes(enumNames=[""]))
self.params.addProperty(self.rigid_body_base_name,
0,
attributes=propertyset.PropertyAttributes(
enumNames=[self.rigid_body_base_none]))
optitrack_vis.connectRigidBodyListChanged(self.rigidBodyListChanged)
self.optitrack_vis = optitrack_vis
self.params.addProperty(
'Frame 1', [0.8, 0.36, 0.27, 0., 0., 0.],
attributes=propertyset.PropertyAttributes(singleStep=0.01))
self.params.addProperty(
'Frame 2', [0.8, -0.36, 0.27, 0., 0., 0.],
attributes=propertyset.PropertyAttributes(singleStep=0.01))
self.params.addProperty(self.place_target_name,
0,
attributes=propertyset.PropertyAttributes(
enumNames=['Frame 1', 'Frame 2']))
self.addTasks()
