def setPlan(self, plan):
self.ui.playbackSlider.value = 0
self.ui.timeLabel.text = 'Time: 0.00 s'
self.ui.planNameLabel.text = ''
self.plan = plan
self.endTime = 1.0
self.updateButtonColor()
if not self.plan:
return
planText = 'Plan: %d. %.2f seconds' % (
plan.utime, self.planPlayback.getPlanElapsedTime(plan))
self.ui.planNameLabel.text = planText
self.startTime = 0.0
self.endTime = self.planPlayback.getPlanElapsedTime(plan)
self.interpolationChanged()
info = self.getPlanInfo(plan)
app.displaySnoptInfo(info)
if self.ui.hideButton.text == 'show':
self.hideClicked()
else:
self.viewModeChanged()
self.updateButtonColor()
if self.autoPlay and self.widget.parent() is not None:
self.widget.parent().show()
def setPlan(self, plan):
self.ui.playbackSlider.value = 0
self.ui.timeLabel.text = 'Time: 0.00 s'
self.ui.planNameLabel.text = ''
self.plan = plan
self.endTime = 1.0
self.updateButtonColor()
if not self.plan:
return
planText = 'Plan: %d. %.2f seconds' % (plan.utime, self.planPlayback.getPlanElapsedTime(plan))
self.ui.planNameLabel.text = planText
self.startTime = 0.0
self.endTime = self.planPlayback.getPlanElapsedTime(plan)
self.interpolationChanged()
info = self.getPlanInfo(plan)
app.displaySnoptInfo(info)
if self.ui.hideButton.text == 'show':
self.hideClicked()
else:
self.viewModeChanged()
self.updateButtonColor()
if self.autoPlay and self.widget.parent() is not None:
self.widget.parent().show()
def planTurn(self, wristAngleCW=np.radians(320)):
ikParameters = IkParameters(maxDegreesPerSecond=self.speedTurn)
startPose = self.getPlanningStartPose()
wristAngleCW = min(np.radians(320)-0.01, max(-np.radians(160)+0.01, wristAngleCW))
if self.graspingHand == 'left':
postureJoints = {'l_arm_lwy': -np.radians(160) + wristAngleCW}
else:
postureJoints = {'r_arm_lwy': np.radians(160) - wristAngleCW}
endPose = self.ikPlanner.mergePostures(startPose, postureJoints)
plan = self.ikPlanner.computePostureGoal(startPose, endPose, ikParameters=ikParameters)
app.displaySnoptInfo(1)
self.addPlan(plan)
def planTurn(self, wristAngleCW=np.radians(320)):
ikParameters = IkParameters(maxDegreesPerSecond=self.speedTurn)
startPose = self.getPlanningStartPose()
wristAngleCW = min(
np.radians(320) - 0.01, max(-np.radians(160) + 0.01, wristAngleCW))
if self.graspingHand == 'left':
postureJoints = {'l_arm_lwy': -np.radians(160) + wristAngleCW}
else:
postureJoints = {'r_arm_lwy': np.radians(160) - wristAngleCW}
endPose = self.ikPlanner.mergePostures(startPose, postureJoints)
plan = self.ikPlanner.computePostureGoal(startPose,
endPose,
ikParameters=ikParameters)
app.displaySnoptInfo(1)
self.addPlan(plan)
