def init(view):
global _multisenseItem
global multisenseDriver
m = MultiSenseSource(view)
m.start()
multisenseDriver = m
sensorsFolder = om.getOrCreateContainer('sensors')
_multisenseItem = MultisenseItem(m)
om.addToObjectModel(_multisenseItem, sensorsFolder)
useMapServer = hasattr(drc, 'vtkMapServerSource')
if useMapServer:
mapServerSource = MapServerSource(view, callbackFunc=view.render)
mapsServerContainer = om.ObjectModelItem('Map Server', icon=om.Icons.Robot)
mapsServerContainer.source = mapServerSource
om.addToObjectModel(mapsServerContainer, parentObj=sensorsFolder)
mapServerSource.start()
else:
mapServerSource = None
spindleDebug = SpindleAxisDebug(multisenseDriver)
spindleDebug.addToView(view)
om.addToObjectModel(spindleDebug, sensorsFolder)
return multisenseDriver, mapServerSource
def main():
objectTree = QtGui.QTreeWidget()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
om.init(objectTree, propertiesPanel)
p = om.ObjectModelItem('test parent item')
p.addProperty('foo', 1)
p.addProperty('Visible', True)
om.addToObjectModel(p)
c = om.ObjectModelItem('test child item')
om.addToObjectModel(c, p)
assert om.findObjectByName('test parent item') == p
assert om.findObjectByName('test child item') == c
assert p.children()[0] == c
assert c.children() == []
objectTree.show()
propertiesPanel.show()
objectTree2 = QtGui.QTreeWidget()
propertiesPanel2 = PythonQt.dd.ddPropertiesPanel()
tree = om.ObjectModelTree()
tree.init(objectTree2, propertiesPanel2)
p2 = om.ObjectModelItem('test parent item 2')
p2.addProperty('foo2', 1)
p2.addProperty('Visible', True)
tree.addToObjectModel(p2)
c2 = om.ObjectModelItem('test child item 2')
tree.addToObjectModel(c2, p2)
assert tree.findObjectByName('test parent item 2') == p2
assert tree.findObjectByName('test child item 2') == c2
assert p2.children()[0] == c2
assert c2.children() == []
objectTree2.show()
propertiesPanel2.show()
startApplication(enableQuitTimer=True)
def _setupProperties(self):
self.params = om.ObjectModelItem('Footstep Params')
self.defaults_map = ['Drake Nominal', 'Terrain', 'Stairs', 'Polaris Platform']
self.params.addProperty('Defaults', 0, attributes=om.PropertyAttributes(enumNames=self.defaults_map))
self.params.addProperty('Behavior', 0, attributes=om.PropertyAttributes(enumNames=['BDI Stepping', 'BDI Walking', 'Drake Walking']))
self.params.addProperty('Leading Foot', 1, attributes=om.PropertyAttributes(enumNames=['Auto', 'Left', 'Right']))
self.leading_foot_map = [lcmdrc.footstep_plan_params_t.LEAD_AUTO,
lcmdrc.footstep_plan_params_t.LEAD_LEFT,
lcmdrc.footstep_plan_params_t.LEAD_RIGHT]
# self.params.addProperty('Map Command', 0, attributes=om.PropertyAttributes(enumNames=['Full Heightmap', 'Flat Ground', 'Z Normals']))
self.params.addProperty('Map Mode', 0, attributes=om.PropertyAttributes(enumNames=['Foot Plane', 'Terrain Heights & Normals', 'Terrain Heights, Z Normals', 'Horizontal Plane']))
self.map_mode_map = [
lcmdrc.footstep_plan_params_t.FOOT_PLANE,
lcmdrc.footstep_plan_params_t.TERRAIN_HEIGHTS_AND_NORMALS,
lcmdrc.footstep_plan_params_t.TERRAIN_HEIGHTS_Z_NORMALS,
lcmdrc.footstep_plan_params_t.HORIZONTAL_PLANE
]
# self.params.addProperty('Heights Source', attributes=om.PropertyAttributes(enumNames=['Map Data', 'Foot Plane']))
# self.params.addProperty('Normals Source', attributes=om.PropertyAttributes(enumNames=['Map Data', 'Foot Plane']))
self.params.addProperty('Min Num Steps', None, attributes=om.PropertyAttributes(decimals=0, minimum=0, maximum=30, singleStep=1))
self.params.addProperty('Max Num Steps', None, attributes=om.PropertyAttributes(decimals=0, minimum=1, maximum=30, singleStep=1))
self.params.addProperty('Min Step Width', None, attributes=om.PropertyAttributes(decimals=2, minimum=0.1, maximum=0.35, singleStep=0.01))
self.params.addProperty('Nominal Step Width', None, attributes=om.PropertyAttributes(decimals=2, minimum=0.21, maximum=0.4, singleStep=0.01))
self.params.addProperty('Max Step Width', None, attributes=om.PropertyAttributes(decimals=2, minimum=0.22, maximum=0.5, singleStep=0.01))
self.params.addProperty('Nominal Forward Step', None, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=0.5, singleStep=0.01))
self.params.addProperty('Max Forward Step', None, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=0.5, singleStep=0.01))
self.params.addProperty('Swing Height', None, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=0.5, singleStep=0.005))
self.params.addProperty('Max Upward Step', None, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=0.5, singleStep=0.01))
self.params.addProperty('Max Downward Step', None, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=0.5, singleStep=0.01))
self.params.addProperty('Drake Swing Speed', None, attributes=om.PropertyAttributes(decimals=2, minimum=0.05, maximum=5.0, singleStep=0.05))
self.params.addProperty('Drake Min Hold Time', None, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=10.0, singleStep=0.05))
self.params.addProperty('Drake Instep Shift', None, attributes=om.PropertyAttributes(decimals=4, minimum=-0.3, maximum=0.3, singleStep=0.0005))
self.behavior_lcm_map = {
0: lcmdrc.footstep_plan_params_t.BEHAVIOR_BDI_STEPPING,
1: lcmdrc.footstep_plan_params_t.BEHAVIOR_BDI_WALKING,
2: lcmdrc.footstep_plan_params_t.BEHAVIOR_WALKING}
self.params.addProperty('Planner Mode', 0, attributes=om.PropertyAttributes(enumNames=['Fast MIQP', 'Slow MISOCP']))
self.params.addProperty('Support Contact Groups', 0, attributes=om.PropertyAttributes(enumNames=['Whole Foot', 'Front 2/3', 'Back 2/3']))
self.params.addProperty('Prevent Swing Undershoot', 0, attributes=om.PropertyAttributes(enumNames=['False', 'True']))
self.params.addProperty('Prevent Swing Overshoot', 0, attributes=om.PropertyAttributes(enumNames=['False', 'True']))
self.applyDefaults(DEFAULT_PARAM_SET)
def main():
obj = om.ObjectModelItem('test')
obj.addProperty('double', 1.0, attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=100, singleStep=0.5))
obj.addProperty('double list', [1.0, 2.0, 3.0], attributes=om.PropertyAttributes(decimals=2, minimum=0, maximum=100, singleStep=0.5))
obj.addProperty('int', 1, attributes=om.PropertyAttributes(minimum=0, maximum=100, singleStep=5))
obj.addProperty('int list', [1, 2, 3], attributes=om.PropertyAttributes(minimum=0, maximum=100, singleStep=1))
obj.addProperty('bool', True)
obj.addProperty('str', 'value')
obj.addProperty('str list', 0, attributes=om.PropertyAttributes(enumNames=['value 1', 'value 2', 'value 3']))
obj.addProperty('color', [1.0, 0.5, 0.0])
panel = PythonQt.dd.ddPropertiesPanel()
panel.setBrowserModeToWidget()
om.PropertyPanelHelper.addPropertiesToPanel(obj.properties, panel)
panel.show()
startApplication(enableQuitTimer=True)
def _setupParams(self):
self.params = om.ObjectModelItem('Task Params')
self.params.properties.connectPropertyChanged(self.onPropertyChanged)