class QtPath(QtGui.QWidget): def __init__(self, parent=None): QtGui.QWidget.__init__(self, parent) loadUi(os.path.join(path, 'resources', 'path.ui'), self) try: rospy.wait_for_service('robot_send_command', timeout=5) self.send_command = rospy.ServiceProxy('robot_send_command', SrvRobotCommand) except: rospy.loginfo('ERROR connecting to service robot_send_command.') #self.pub = rospy.Publisher( # 'robot_command_json', MsgRobotCommand, queue_size=10) self.btnLoadPath.clicked.connect(self.btnLoadPathClicked) icon = QtGui.QIcon.fromTheme('document-open') self.btnLoadPath.setIcon(icon) self.btnSavePath.clicked.connect(self.btnSavePathClicked) icon = QtGui.QIcon.fromTheme('document-save') self.btnSavePath.setIcon(icon) self.btnRunPath.clicked.connect(self.btnRunPathClicked) icon = QtGui.QIcon.fromTheme('media-playback-start') self.btnRunPath.setIcon(icon) self.btnDelete.clicked.connect(self.btnDeleteClicked) self.btnLoadPose.clicked.connect(self.btnLoadPoseClicked) self.btnStep.clicked.connect(self.btnStepClicked) self.btnCancel.clicked.connect(self.btnCancelClicked) self.listWidgetPoses.itemSelectionChanged.connect(self.lstPosesClicked) self.listWidgetPoses.itemDoubleClicked.connect(self.qlistDoubleClicked) self.jason = Jason() self.ok_command = "OK" self.offset_position = 100 self.quat = [0, np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))] self.quat_inv = [0, -np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))] self.pub_marker_array = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10) self.marker_array = MarkerArray() self.lines = LinesMarker() self.lines.set_size(0.005) self.lines.set_color((1, 0, 0, 1)) self.lines.set_frame('/workobject') self.marker_array.markers.append(self.lines.marker) self.arrow = ArrowMarker(0.1) self.arrow.set_color((0, 0, 1, 1)) self.arrow.set_frame('/workobject') # self.arrow.set_position((0.2, 0.2, 0.2)) # self.arrow.set_orientation((0, 0, 0, 1)) self.marker_array.markers.append(self.arrow.marker) for id, m in enumerate(self.marker_array.markers): m.id = id self.tmrRunPath = QtCore.QTimer(self) self.tmrRunPath.timeout.connect(self.timeRunPathEvent) def insertPose(self, pose): (x, y, z), (qx, qy, qz, qw) = pose str_pose = '((%.3f, %.3f, %.3f), (%.4f, %.4f, %.4f, %.4f))' % ( x, y, z, qx, qy, qz, qw) #item = QtGui.QListWidgetItem('item_text') #self.listWidgetPoses.addItem(item) self.listWidgetPoses.addItem(str_pose) #self.listWidgetPoses.insertItem(0, '0, 1, 2') def insertCommand(self, command, insert=False, position=0): if not insert: self.listWidgetPoses.addItem(command) else: self.listWidgetPoses.insertItem(position, command) def removeComamnd(self): item = self.listWidgetPoses.takeItem(0) if item: print item.text() return item.text() else: return None def btnLoadPathClicked(self): self.listWidgetPoses.clear() filename = QtGui.QFileDialog.getOpenFileName( self, 'Load Path Routine', os.path.join(path, 'routines'), 'Jason Routine Files (*.jas)')[0] print 'Load routine:', filename cmds = self.jason.load_commands(filename) [self.insertCommand(cmd) for cmd in cmds] self.arr = [] self.getMoveCommands() def btnSavePathClicked(self): filename = QtGui.QFileDialog.getSaveFileName( self, 'Load Path Routine', os.path.join(path, 'routines'), 'Jason Routine Files (*.jas)')[0] n_row = self.listWidgetPoses.count() if n_row > 0: cmds = [ str(self.listWidgetPoses.item(row).text()) for row in range(n_row) ] self.jason.save_commands(filename, cmds) print 'Saved routine:', filename def btnRunPathClicked(self): """Start-Stop sending commands to robot from the list of commands.""" if self.tmrRunPath.isActive(): self.tmrRunPath.stop() self.btnRunPath.setText('Run') else: self.btnRunPath.setText('Stop') self.tmrRunPath.start(100) # time in ms def btnDeleteClicked(self): row = self.listWidgetPoses.currentRow() self.listWidgetPoses.takeItem(row) #self.listWidgetPoses.clear() def btnLoadPoseClicked(self): rob_pose = self.send_command('{"get_pose":1}') default_command = '{"move":' + rob_pose.response + '}' str_command = QtGui.QInputDialog.getText(self, "Load Jason Command", "Comamnd:", text=default_command) row = self.listWidgetPoses.currentRow() if len(str_command[0]) > 3: self.insertCommand(str_command[0], insert=True, position=row) print str_command def btnStepClicked(self): n_row = self.listWidgetPoses.count() if n_row > 0: row = self.listWidgetPoses.currentRow() if row == -1: row = 0 item_text = self.listWidgetPoses.item(row) #self.pub.publish(item_text.text()) self.sendCommand(item_text.text()) row += 1 if row == n_row: row = 0 self.listWidgetPoses.setCurrentRow(row) def lstPosesClicked(self): row = self.listWidgetPoses.currentRow() item_text = self.listWidgetPoses.item(row) str_item = item_text.text() command = json.loads(str_item) if 'move' in command: orientation = np.array([ command["move"][1][1], command["move"][1][2], command["move"][1][3], command["move"][1][0] ]) position = np.array(command["move"][0]) * 0.001 self.arrow.set_new_position(position) self.arrow.set_new_orientation(orientation) self.arrow.set_color((0, 0, 1, 1)) else: self.arrow.set_color((0, 0, 0, 0)) self.pub_marker_array.publish(self.marker_array) def qlistDoubleClicked(self): row = self.listWidgetPoses.currentRow() item_text = self.listWidgetPoses.item(row) str_command = QtGui.QInputDialog.getText(self, "Load Jason Command", "Comamnd:", text=item_text.text()) if len(str_command[0]) > 3: self.listWidgetPoses.takeItem(row) self.insertCommand(str_command[0], insert=True, position=row) def btnCancelClicked(self): self.sendCommand('{"cancel":1}') def getMoveCommands(self): n_row = self.listWidgetPoses.count() # row = self.listWidgetPoses.currentRow() points = [] for row in range(n_row): item_text = self.listWidgetPoses.item(row) str_item = item_text.text() comando = json.loads(str_item) if 'move' in comando: point = comando["move"][0] points.append(point) points = np.array(points) * 0.001 print points self.lines.set_points(points) self.pub_marker_array.publish(self.marker_array) def sendCommand(self, command): rob_response = self.send_command(command) print 'Sended command:', command print 'Received response:', rob_response self.ok_command = rob_response.response def timeRunPathEvent(self): """Sends a command each time event from the list of commands.""" n_row = self.listWidgetPoses.count() if n_row > 0: row = self.listWidgetPoses.currentRow() if row == -1: row = 0 item_text = self.listWidgetPoses.item(row) #self.pub.publish(item_text.text()) self.sendCommand(item_text.text()) if self.ok_command == "OK": row += 1 if row == n_row: row = 0 self.btnRunPathClicked() self.listWidgetPoses.setCurrentRow(row)
class QtPart(QtGui.QWidget): accepted = QtCore.pyqtSignal(list) def __init__(self, parent=None): QtGui.QWidget.__init__(self, parent) loadUi(os.path.join(path, 'resources', 'part.ui'), self) self.pub_marker_array = rospy.Publisher( 'visualization_marker_array', MarkerArray, queue_size=1) self.btnLoad.clicked.connect(self.btnLoadClicked) self.btnProcessMesh.clicked.connect(self.btnProcessMeshClicked) self.btnProcessLayer.clicked.connect(self.btnProcessLayerClicked) self.btnAcceptPath.clicked.connect(self.btnAcceptPathClicked) self.sbPositionX.valueChanged.connect(self.changePosition) self.sbPositionY.valueChanged.connect(self.changePosition) self.sbPositionZ.valueChanged.connect(self.changePosition) self.sbSizeX.valueChanged.connect(self.changeSize) self.sbSizeY.valueChanged.connect(self.changeSize) self.sbSizeZ.valueChanged.connect(self.changeSize) self.processing = False self.timer = QtCore.QTimer(self) self.timer.timeout.connect(self.updateProcess) self.robpath = RobPath() def btnLoadClicked(self): self.blockSignals(True) filename = QtGui.QFileDialog.getOpenFileName( self, 'Open file', os.path.join(path, 'data'), 'Mesh Files (*.stl)')[0] print 'Filename:', filename self.setWindowTitle(filename) self.robpath.load_mesh(filename) self.mesh_size = self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1 self.updatePosition(self.robpath.mesh.bpoint1) # Rename to position self.updateSize(self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1) self.marker_array = MarkerArray() #self.marker = MeshMarker(mesh_resource="file://"+filename, frame_id="/workobject") self.mesh = TriangleListMarker() self.mesh.set_frame('/workobject') self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles)) self.mesh.set_color((0.66, 0.66, 0.99, 0.66)) self.marker_array.markers.append(self.mesh.marker) self.path = LinesMarker() self.path.set_frame('/workobject') self.path.set_color((1.0, 0.0, 0.0, 1.0)) self.marker_array.markers.append(self.path.marker) for id, m in enumerate(self.marker_array.markers): m.id = id self.npoints = 0 # #rospy.loginfo() self.pub_marker_array.publish(self.marker_array) #TODO: Change bpoints. #self.lblInfo.setText('Info:\n') #self.plot.drawMesh(self.robpath.mesh) #TODO: Add info from velocity estimation module. self.blockSignals(False) def updateParameters(self): height = self.sbHeight.value() width = self.sbWidth.value() overlap = 0.01 * self.sbOverlap.value() print height, width, overlap self.robpath.set_track(height, width, overlap) def updateProcess(self): if self.robpath.k < len(self.robpath.levels): self.robpath.update_process() #self.plot.drawSlice(self.robpath.slices, self.robpath.path) points = np.array([pose[0] for pose in self.robpath.path[self.npoints:-1]]) self.npoints = self.npoints + len(points) self.path.set_points(0.001 * points) print len(points) self.pub_marker_array.publish(self.marker_array) #self.plot.progress.setValue(100.0 * self.robpath.k / len(self.robpath.levels)) else: self.processing = False self.timer.stop() def btnProcessMeshClicked(self): if self.processing: self.processing = False self.timer.stop() else: self.updateParameters() self.robpath.init_process() self.processing = True self.timer.start(100) def btnProcessLayerClicked(self): if self.processing: self.updateParameters() self.updateProcess() else: self.updateParameters() self.robpath.init_process() self.processing = True def btnAcceptPathClicked(self): self.accepted.emit(self.robpath.path) def updatePosition(self, position): x, y, z = position self.sbPositionX.setValue(x) self.sbPositionY.setValue(y) self.sbPositionZ.setValue(z) def changePosition(self): x = self.sbPositionX.value() y = self.sbPositionY.value() z = self.sbPositionZ.value() self.robpath.translate_mesh(np.float32([x, y, z])) #self.marker.set_position((x, y, z)) self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles)) self.pub_marker_array.publish(self.marker_array) def updateSize(self, size): sx, sy, sz = size self.sbSizeX.setValue(sx) self.sbSizeY.setValue(sy) self.sbSizeZ.setValue(sz) def changeSize(self): sx = self.sbSizeX.value() sy = self.sbSizeY.value() sz = self.sbSizeZ.value() self.robpath.resize_mesh(np.float32([sx, sy, sz])) #scale = np.float32([sx, sy, sz]) / self.mesh_size self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles)) self.pub_marker_array.publish(self.marker_array) def blockSignals(self, value): self.sbPositionX.blockSignals(value) self.sbPositionY.blockSignals(value) self.sbPositionZ.blockSignals(value) self.sbSizeX.blockSignals(value) self.sbSizeY.blockSignals(value) self.sbSizeZ.blockSignals(value)
class QtPart(QtGui.QWidget): accepted = QtCore.pyqtSignal(list) def __init__(self, parent=None): QtGui.QWidget.__init__(self, parent) loadUi(os.path.join(path, 'resources', 'part.ui'), self) self.pub_marker_array = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=1) self.btnLoad.clicked.connect(self.btnLoadClicked) self.btnProcessMesh.clicked.connect(self.btnProcessMeshClicked) self.btnProcessLayer.clicked.connect(self.btnProcessLayerClicked) self.btnAcceptPath.clicked.connect(self.btnAcceptPathClicked) self.sbPositionX.valueChanged.connect(self.changePosition) self.sbPositionY.valueChanged.connect(self.changePosition) self.sbPositionZ.valueChanged.connect(self.changePosition) self.sbSizeX.valueChanged.connect(self.changeSize) self.sbSizeY.valueChanged.connect(self.changeSize) self.sbSizeZ.valueChanged.connect(self.changeSize) self.processing = False self.timer = QtCore.QTimer(self) self.timer.timeout.connect(self.updateProcess) self.robpath = RobPath() def btnLoadClicked(self): self.blockSignals(True) filename = QtGui.QFileDialog.getOpenFileName( self, 'Open file', os.path.join(path, 'data'), 'Mesh Files (*.stl)')[0] print 'Filename:', filename self.setWindowTitle(filename) self.robpath.load_mesh(filename) self.mesh_size = self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1 self.updatePosition(self.robpath.mesh.bpoint1) # Rename to position self.updateSize(self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1) self.marker_array = MarkerArray() #self.marker = MeshMarker(mesh_resource="file://"+filename, frame_id="/workobject") self.mesh = TriangleListMarker() self.mesh.set_frame('/workobject') self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles)) self.mesh.set_color((0.66, 0.66, 0.99, 0.66)) self.marker_array.markers.append(self.mesh.marker) self.path = LinesMarker() self.path.set_frame('/workobject') self.path.set_color((1.0, 0.0, 0.0, 1.0)) self.marker_array.markers.append(self.path.marker) for id, m in enumerate(self.marker_array.markers): m.id = id self.npoints = 0 # #rospy.loginfo() self.pub_marker_array.publish(self.marker_array) #TODO: Change bpoints. #self.lblInfo.setText('Info:\n') #self.plot.drawMesh(self.robpath.mesh) #TODO: Add info from velocity estimation module. self.blockSignals(False) def updateParameters(self): height = self.sbHeight.value() width = self.sbWidth.value() overlap = 0.01 * self.sbOverlap.value() print height, width, overlap self.robpath.set_track(height, width, overlap) def updateProcess(self): if self.robpath.k < len(self.robpath.levels): self.robpath.update_process() #self.plot.drawSlice(self.robpath.slices, self.robpath.path) points = np.array( [pose[0] for pose in self.robpath.path[self.npoints:-1]]) self.npoints = self.npoints + len(points) self.path.set_points(0.001 * points) print len(points) self.pub_marker_array.publish(self.marker_array) #self.plot.progress.setValue(100.0 * self.robpath.k / len(self.robpath.levels)) else: self.processing = False self.timer.stop() def btnProcessMeshClicked(self): if self.processing: self.processing = False self.timer.stop() else: self.updateParameters() self.robpath.init_process() self.processing = True self.timer.start(100) def btnProcessLayerClicked(self): if self.processing: self.updateParameters() self.updateProcess() else: self.updateParameters() self.robpath.init_process() self.processing = True def btnAcceptPathClicked(self): self.accepted.emit(self.robpath.path) def updatePosition(self, position): x, y, z = position self.sbPositionX.setValue(x) self.sbPositionY.setValue(y) self.sbPositionZ.setValue(z) def changePosition(self): x = self.sbPositionX.value() y = self.sbPositionY.value() z = self.sbPositionZ.value() self.robpath.translate_mesh(np.float32([x, y, z])) #self.marker.set_position((x, y, z)) self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles)) self.pub_marker_array.publish(self.marker_array) def updateSize(self, size): sx, sy, sz = size self.sbSizeX.setValue(sx) self.sbSizeY.setValue(sy) self.sbSizeZ.setValue(sz) def changeSize(self): sx = self.sbSizeX.value() sy = self.sbSizeY.value() sz = self.sbSizeZ.value() self.robpath.resize_mesh(np.float32([sx, sy, sz])) #scale = np.float32([sx, sy, sz]) / self.mesh_size self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles)) self.pub_marker_array.publish(self.marker_array) def blockSignals(self, value): self.sbPositionX.blockSignals(value) self.sbPositionY.blockSignals(value) self.sbPositionZ.blockSignals(value) self.sbSizeX.blockSignals(value) self.sbSizeY.blockSignals(value) self.sbSizeZ.blockSignals(value)
class QtPath(QtGui.QWidget): def __init__(self, parent=None): QtGui.QWidget.__init__(self, parent) loadUi(os.path.join(path, 'resources', 'path.ui'), self) try: rospy.wait_for_service('robot_send_command', timeout=5) self.send_command = rospy.ServiceProxy( 'robot_send_command', SrvRobotCommand) except: rospy.loginfo('ERROR connecting to service robot_send_command.') #self.pub = rospy.Publisher( # 'robot_command_json', MsgRobotCommand, queue_size=10) self.btnLoadPath.clicked.connect(self.btnLoadPathClicked) icon = QtGui.QIcon.fromTheme('document-open') self.btnLoadPath.setIcon(icon) self.btnSavePath.clicked.connect(self.btnSavePathClicked) icon = QtGui.QIcon.fromTheme('document-save') self.btnSavePath.setIcon(icon) self.btnRunPath.clicked.connect(self.btnRunPathClicked) icon = QtGui.QIcon.fromTheme('media-playback-start') self.btnRunPath.setIcon(icon) self.btnDelete.clicked.connect(self.btnDeleteClicked) self.btnLoadPose.clicked.connect(self.btnLoadPoseClicked) self.btnStep.clicked.connect(self.btnStepClicked) self.btnCancel.clicked.connect(self.btnCancelClicked) self.listWidgetPoses.itemSelectionChanged.connect(self.lstPosesClicked) self.listWidgetPoses.itemDoubleClicked.connect(self.qlistDoubleClicked) self.jason = Jason() self.ok_command = "OK" self.offset_position = 100 self.quat = [0, np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))] self.quat_inv = [0, -np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))] self.pub_marker_array = rospy.Publisher( 'visualization_marker_array', MarkerArray, queue_size=10) self.marker_array = MarkerArray() self.lines = LinesMarker() self.lines.set_size(0.005) self.lines.set_color((1, 0, 0, 1)) self.lines.set_frame('/workobject') self.marker_array.markers.append(self.lines.marker) self.arrow = ArrowMarker(0.1) self.arrow.set_color((0, 0, 1, 1)) self.arrow.set_frame('/workobject') # self.arrow.set_position((0.2, 0.2, 0.2)) # self.arrow.set_orientation((0, 0, 0, 1)) self.marker_array.markers.append(self.arrow.marker) for id, m in enumerate(self.marker_array.markers): m.id = id self.tmrRunPath = QtCore.QTimer(self) self.tmrRunPath.timeout.connect(self.timeRunPathEvent) def insertPose(self, pose): (x, y, z), (qx, qy, qz, qw) = pose str_pose = '((%.3f, %.3f, %.3f), (%.4f, %.4f, %.4f, %.4f))' %(x, y, z, qx, qy, qz, qw) #item = QtGui.QListWidgetItem('item_text') #self.listWidgetPoses.addItem(item) self.listWidgetPoses.addItem(str_pose) #self.listWidgetPoses.insertItem(0, '0, 1, 2') def insertCommand(self, command, insert=False, position=0): if not insert: self.listWidgetPoses.addItem(command) else: self.listWidgetPoses.insertItem(position, command) def removeComamnd(self): item = self.listWidgetPoses.takeItem(0) if item: print item.text() return item.text() else: return None def btnLoadPathClicked(self): self.listWidgetPoses.clear() filename = QtGui.QFileDialog.getOpenFileName( self, 'Load Path Routine', os.path.join(path, 'routines'), 'Jason Routine Files (*.jas)')[0] print 'Load routine:', filename cmds = self.jason.load_commands(filename) [self.insertCommand(cmd) for cmd in cmds] self.arr = [] self.getMoveCommands() def btnSavePathClicked(self): filename = QtGui.QFileDialog.getSaveFileName( self, 'Load Path Routine', os.path.join(path, 'routines'), 'Jason Routine Files (*.jas)')[0] n_row = self.listWidgetPoses.count() if n_row > 0: cmds = [str(self.listWidgetPoses.item(row).text()) for row in range(n_row)] self.jason.save_commands(filename, cmds) print 'Saved routine:', filename def btnRunPathClicked(self): """Start-Stop sending commands to robot from the list of commands.""" if self.tmrRunPath.isActive(): self.tmrRunPath.stop() self.btnRunPath.setText('Run') else: self.btnRunPath.setText('Stop') self.tmrRunPath.start(100) # time in ms def btnDeleteClicked(self): row = self.listWidgetPoses.currentRow() self.listWidgetPoses.takeItem(row) #self.listWidgetPoses.clear() def btnLoadPoseClicked(self): rob_pose = self.send_command('{"get_pose":1}') default_command = '{"move":' + rob_pose.response + '}' str_command = QtGui.QInputDialog.getText( self, "Load Jason Command", "Comamnd:", text=default_command) row = self.listWidgetPoses.currentRow() if len(str_command[0]) > 3: self.insertCommand(str_command[0], insert=True, position=row) print str_command def btnStepClicked(self): n_row = self.listWidgetPoses.count() if n_row > 0: row = self.listWidgetPoses.currentRow() if row == -1: row = 0 item_text = self.listWidgetPoses.item(row) #self.pub.publish(item_text.text()) self.sendCommand(item_text.text()) row += 1 if row == n_row: row = 0 self.listWidgetPoses.setCurrentRow(row) def lstPosesClicked(self): row = self.listWidgetPoses.currentRow() item_text = self.listWidgetPoses.item(row) str_item = item_text.text() command = json.loads(str_item) if 'move' in command: orientation = np.array([command["move"][1][1], command["move"][1][2], command["move"][1][3], command["move"][1][0]]) position = np.array(command["move"][0]) * 0.001 self.arrow.set_new_position(position) self.arrow.set_new_orientation(orientation) self.arrow.set_color((0, 0, 1, 1)) else: self.arrow.set_color((0, 0, 0, 0)) self.pub_marker_array.publish(self.marker_array) def qlistDoubleClicked(self): row = self.listWidgetPoses.currentRow() item_text = self.listWidgetPoses.item(row) str_command = QtGui.QInputDialog.getText( self, "Load Jason Command", "Comamnd:", text=item_text.text()) if len(str_command[0]) > 3: self.listWidgetPoses.takeItem(row) self.insertCommand(str_command[0], insert=True, position=row) def btnCancelClicked(self): self.sendCommand('{"cancel":1}') def getMoveCommands(self): n_row = self.listWidgetPoses.count() # row = self.listWidgetPoses.currentRow() points = [] for row in range(n_row): item_text = self.listWidgetPoses.item(row) str_item = item_text.text() comando = json.loads(str_item) if 'move' in comando: point = comando["move"][0] points.append(point) points = np.array(points) * 0.001 print points self.lines.set_points(points) self.pub_marker_array.publish(self.marker_array) def sendCommand(self, command): rob_response = self.send_command(command) print 'Sended command:', command print 'Received response:', rob_response self.ok_command = rob_response.response def timeRunPathEvent(self): """Sends a command each time event from the list of commands.""" n_row = self.listWidgetPoses.count() if n_row > 0: row = self.listWidgetPoses.currentRow() if row == -1: row = 0 item_text = self.listWidgetPoses.item(row) #self.pub.publish(item_text.text()) self.sendCommand(item_text.text()) if self.ok_command == "OK": row += 1 if row == n_row: row = 0 self.btnRunPathClicked() self.listWidgetPoses.setCurrentRow(row)