def __init__(self):
self.app = ConsoleApp()
self.view = self.app.createView()
self.robotSystem = robotsystem.create(self.view)
jointGroups = getJointGroups()
self.jointTeleopPanel = JointTeleopPanel(self.robotSystem, jointGroups)
self.jointCommandPanel = JointCommandPanel(self.robotSystem)
self.jointCommandPanel.ui.speedSpinBox.setEnabled(False)
self.jointCommandPanel.ui.mirrorArmsCheck.setChecked(self.jointTeleopPanel.mirrorArms)
self.jointCommandPanel.ui.mirrorLegsCheck.setChecked(self.jointTeleopPanel.mirrorLegs)
self.jointCommandPanel.ui.resetButton.connect('clicked()', self.resetJointTeleopSliders)
self.jointCommandPanel.ui.mirrorArmsCheck.connect('clicked()', self.mirrorJointsChanged)
self.jointCommandPanel.ui.mirrorLegsCheck.connect('clicked()', self.mirrorJointsChanged)
self.widget = QtGui.QWidget()
gl = QtGui.QGridLayout(self.widget)
gl.addWidget(self.app.showObjectModel(), 0, 0, 4, 1) # row, col, rowspan, colspan
gl.addWidget(self.view, 0, 1, 1, 1)
gl.addWidget(self.jointCommandPanel.widget, 1, 1, 1, 1)
gl.addWidget(self.jointTeleopPanel.widget, 0, 2, -1, 1)
gl.setRowStretch(0,1)
gl.setColumnStretch(1,1)
#self.sub = lcmUtils.addSubscriber('COMMITTED_ROBOT_PLAN', lcmdrc.robot_plan_t, self.onRobotPlan)
lcmUtils.addSubscriber('STEERING_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
lcmUtils.addSubscriber('THROTTLE_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
def __init__(self):
self.app = ConsoleApp()
self.view = self.app.createView()
self.robotSystem = robotsystem.create(self.view)
jointGroups = getJointGroups()
self.jointTeleopPanel = JointTeleopPanel(self.robotSystem, jointGroups)
self.jointCommandPanel = JointCommandPanel(self.robotSystem)
self.jointCommandPanel.ui.speedSpinBox.setEnabled(False)
self.jointCommandPanel.ui.mirrorArmsCheck.setChecked(self.jointTeleopPanel.mirrorArms)
self.jointCommandPanel.ui.mirrorLegsCheck.setChecked(self.jointTeleopPanel.mirrorLegs)
self.jointCommandPanel.ui.resetButton.connect('clicked()', self.resetJointTeleopSliders)
self.jointCommandPanel.ui.mirrorArmsCheck.connect('clicked()', self.mirrorJointsChanged)
self.jointCommandPanel.ui.mirrorLegsCheck.connect('clicked()', self.mirrorJointsChanged)
self.widget = QtGui.QWidget()
gl = QtGui.QGridLayout(self.widget)
gl.addWidget(self.app.showObjectModel(), 0, 0, 4, 1) # row, col, rowspan, colspan
gl.addWidget(self.view, 0, 1, 1, 1)
gl.addWidget(self.jointCommandPanel.widget, 1, 1, 1, 1)
gl.addWidget(self.jointTeleopPanel.widget, 0, 2, -1, 1)
gl.setRowStretch(0,1)
gl.setColumnStretch(1,1)
#self.sub = lcmUtils.addSubscriber('COMMITTED_ROBOT_PLAN', lcmdrc.robot_plan_t, self.onRobotPlan)
lcmUtils.addSubscriber('STEERING_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
lcmUtils.addSubscriber('THROTTLE_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
position, quat = transformUtils.poseFromTransform(pelvisToWorld)
msg = lcmbot.pose_t()
msg.utime = robotStateJointController.lastRobotStateMessage.utime
msg.pos = [0.0, 0.0, 0.0]
msg.orientation = quat.tolist()
lcmUtils.publish(channel, msg)
def enable(self):
self.capture()
self.timer.start()
def disable(self):
self.timer.stop()
self.clear()
#---------------------------------------
app = ConsoleApp()
app.setupGlobals(globals())
app.showPythonConsole()
view = app.createView()
view.show()
robotsystem.create(view, globals())
estimator = FootLockEstimator()
app.start()
from ddapp.uuidutil import newUUID
from ddapp import geometryencoder
from ddapp import sceneloader
import drc as lcmdrc
import os
import json
from ddapp.utime import getUtime
app = ConsoleApp()
app.setupGlobals(globals())
app.showPythonConsole()
view = app.createView()
view.show()
robotsystem.create(view, globals())
def affordanceFromDescription(desc):
affordanceManager.collection.updateDescription(desc)
return affordanceManager.getAffordanceById(desc['uuid'])
def newBox():
desc = dict(classname='BoxAffordanceItem', Name='test box', Dimensions=[0.5, 0.2, 0.1], uuid=newUUID(), pose=((0.5,0.0,1.0), (1,0,0,0)))
return affordanceFromDescription(desc)
def newSphere():
desc = dict(classname='SphereAffordanceItem', Name='test sphere', Radius=0.2, uuid=newUUID(), pose=((0.5,0.0,1.0), (1,0,0,0)))
return affordanceFromDescription(desc)
def newCylinder():
actionhandlers.init() quit = app.quit exit = quit view = app.getDRCView() camera = view.camera() tree = app.getMainWindow().objectTree() orbit = cameracontrol.OrbitController(view) showPolyData = segmentation.showPolyData updatePolyData = segmentation.updatePolyData ############################################################################### robotSystem = robotsystem.create(view) globals().update(dict(robotSystem)) useIk = True useAtlasConvexHull = False useRobotState = True usePerception = True useGrid = True useSpreadsheet = True useFootsteps = True useHands = True usePlanning = True useAtlasDriver = True useLCMGL = True useLightColorScheme = True