class FootstepsPanel(object):
def __init__(self, driver, robotModel, jointController, irisDriver):
self.driver = driver
self.robotModel = robotModel
self.jointController = jointController
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddFootsteps.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.placer = None
self.irisDriver = irisDriver
self.region_seed_frames = []
self.ui = WidgetDict(self.widget.children())
self.ui.walkingGoalButton.connect("clicked()", self.onNewWalkingGoal)
self.ui.walkingPlanButton.connect("clicked()", self.onShowWalkingPlan)
self.ui.stopButton.connect("clicked()", self.onStop)
self.ui.simulateDrakeButton.connect("clicked()", self.onSimulateDrake)
self.ui.haltSimulationDrakeButton.connect("clicked()",
self.onHaltSimulationDrake)
self.ui.restoreDefaultsButton.connect("clicked()",
lambda: self.applyDefaults())
self.ui.showWalkingVolumesCheck.connect("clicked()",
self.onShowWalkingVolumes)
### BDI frame logic
self.ui.hideBDIButton.setVisible(False)
self.ui.showBDIButton.setVisible(False)
self.ui.hideBDIButton.connect("clicked()", self.onHideBDIButton)
self.ui.showBDIButton.connect("clicked()", self.onShowBDIButton)
self.ui.newRegionSeedButton.connect("clicked()", self.onNewRegionSeed)
self.ui.autoIRISSegmentationButton.connect("clicked()",
self.onAutoIRISSegmentation)
self._setupPropertiesPanel()
def onShowWalkingVolumes(self):
self.driver.show_contact_slices = self.ui.showWalkingVolumesCheck.checked
folder = om.findObjectByName('walking volumes')
for obj in folder.children():
obj.setProperty('Visible', self.driver.show_contact_slices)
def onNewRegionSeed(self):
t = self.newWalkingGoalFrame(self.robotModel, distanceForward=0.5)
self.irisDriver.newTerrainItem(t)
def onAutoIRISSegmentation(self):
self.irisDriver.autoIRISSegmentation()
def _setupPropertiesPanel(self):
propertyNames = self.driver.params.propertyNames()
l = QtGui.QGridLayout(self.ui.paramsOneContainer)
l.setMargin(0)
self.propertiesPanel = PythonQt.dd.ddPropertiesPanel()
self.propertiesPanel.setBrowserModeToWidget()
l.addWidget(self.propertiesPanel)
self.panelConnector = propertyset.PropertyPanelConnector(
self.driver.params.properties, self.propertiesPanel,
propertyNames[0:15])
l = QtGui.QGridLayout(self.ui.paramsTwoContainer)
l.setMargin(0)
self.propertiesPanel = PythonQt.dd.ddPropertiesPanel()
self.propertiesPanel.setBrowserModeToWidget()
l.addWidget(self.propertiesPanel)
self.panelConnector = propertyset.PropertyPanelConnector(
self.driver.params.properties, self.propertiesPanel,
propertyNames[15:])
self.driver.params.properties.connectPropertyChanged(
self.onPropertyChanged)
def onPropertyChanged(self, propertySet, propertyName):
self.driver.updateRequest()
if propertyName == 'Defaults':
self.applyDefaults()
def applyDefaults(self):
set_name = self.driver.defaults_map[
self.driver.params.properties.defaults]
for k, v in self.driver.default_step_params[set_name].items():
self.driver.params.setProperty(k, v)
def newWalkingGoalFrame(self, robotModel, distanceForward=1.0):
t = self.driver.getFeetMidPoint(robotModel)
t.PreMultiply()
t.Translate(distanceForward, 0.0, 0.0)
t.PostMultiply()
return t
def onNewWalkingGoal(self, walkingGoal=None):
walkingGoal = walkingGoal or self.newWalkingGoalFrame(self.robotModel)
frameObj = vis.updateFrame(walkingGoal,
'walking goal',
parent='planning',
scale=0.25)
frameObj.setProperty('Edit', True)
rep = frameObj.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
frameObj.widget.HandleRotationEnabledOff()
if self.placer:
self.placer.stop()
terrain = om.findObjectByName('HEIGHT_MAP_SCENE')
if terrain:
pos = np.array(frameObj.transform.GetPosition())
polyData = filterUtils.removeNonFinitePoints(terrain.polyData)
if polyData.GetNumberOfPoints():
polyData = segmentation.labelDistanceToLine(
polyData, pos, pos + [0, 0, 1])
polyData = segmentation.thresholdPoints(
polyData, 'distance_to_line', [0.0, 0.1])
if polyData.GetNumberOfPoints():
pos[2] = np.nanmax(
vnp.getNumpyFromVtk(polyData, 'Points')[:, 2])
frameObj.transform.Translate(
pos - np.array(frameObj.transform.GetPosition()))
d = DebugData()
d.addSphere((0, 0, 0), radius=0.03)
handle = vis.showPolyData(d.getPolyData(),
'walking goal terrain handle',
parent=frameObj,
visible=True,
color=[1, 1, 0])
handle.actor.SetUserTransform(frameObj.transform)
self.placer = PlacerWidget(app.getCurrentRenderView(), handle,
terrain)
def onFramePropertyModified(propertySet, propertyName):
if propertyName == 'Edit':
if propertySet.getProperty(propertyName):
self.placer.start()
else:
self.placer.stop()
frameObj.properties.connectPropertyChanged(onFramePropertyModified)
onFramePropertyModified(frameObj, 'Edit')
frameObj.connectFrameModified(self.onWalkingGoalModified)
self.onWalkingGoalModified(frameObj)
def onWalkingGoalModified(self, frame):
om.removeFromObjectModel(om.findObjectByName('footstep widget'))
request = self.driver.constructFootstepPlanRequest(
self.jointController.q, frame.transform)
self.driver.sendFootstepPlanRequest(request)
def onExecute(self):
self.driver.commitFootstepPlan(self.driver.lastFootstepPlan)
def onShowWalkingPlan(self):
startPose = self.jointController.getPose('EST_ROBOT_STATE')
self.driver.sendWalkingPlanRequest(self.driver.lastFootstepPlan,
startPose,
waitForResponse=True)
def onStop(self):
self.driver.sendStopWalking()
def onSimulateDrake(self):
startPose = self.jointController.getPose('EST_ROBOT_STATE')
self.robotModel.setProperty('Visible', False)
self.driver.sendWalkingPlanRequest(self.driver.lastFootstepPlan,
startPose,
waitForResponse=False,
req_type='simulate_drake')
def onHaltSimulationDrake(self):
om.findObjectByName("drake viewer").findChild("robot 1").setProperty(
"Visible", False)
self.robotModel.setProperty('Visible', True)
self.driver.sendHaltSimulationDrakeRequest()
### BDI frame logic
def onHideBDIButton(self):
self.driver.showBDIPlan = False
self.driver.bdiRobotModel.setProperty('Visible', False)
folder = om.getOrCreateContainer("BDI footstep plan")
om.removeFromObjectModel(folder)
folder = om.getOrCreateContainer("BDI adj footstep plan")
om.removeFromObjectModel(folder)
def onShowBDIButton(self):
self.driver.showBDIPlan = True
self.driver.bdiRobotModel.setProperty('Visible', True)
self.driver.drawBDIFootstepPlan()
self.driver.drawBDIFootstepPlanAdjusted()
class TerrainRegionItem(vis.PolyDataItem):
def __init__(self, uid, view, seed_pose, irisDriver, existing_region=None):
d = DebugData()
self.uid = uid
vis.PolyDataItem.__init__(self, "IRIS region {:d}".format(uid),
d.getPolyData(), view)
self.transform = seed_pose
d.addSphere((0, 0, 0), radius=0.02)
self.seedObj = vis.showPolyData(
d.getPolyData(),
'region seed',
parent=om.getOrCreateContainer('IRIS region seeds'))
self.seedObj.actor.SetUserTransform(self.transform)
self.frameObj = vis.showFrame(self.transform,
'region seed frame',
scale=0.2,
visible=False,
parent=self.seedObj)
self.frameObj.setProperty('Edit', True)
self.frameObj.widget.HandleRotationEnabledOff()
terrain = om.findObjectByName('HEIGHT_MAP_SCENE')
if terrain:
rep = self.frameObj.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
pos = np.array(self.frameObj.transform.GetPosition())
polyData = filterUtils.removeNonFinitePoints(terrain.polyData)
if polyData.GetNumberOfPoints():
polyData = segmentation.labelDistanceToLine(
polyData, pos, pos + [0, 0, 1])
polyData = segmentation.thresholdPoints(
polyData, 'distance_to_line', [0.0, 0.1])
if polyData.GetNumberOfPoints():
pos[2] = np.nanmax(
vnp.getNumpyFromVtk(polyData, 'Points')[:, 2])
self.frameObj.transform.Translate(
pos - np.array(self.frameObj.transform.GetPosition()))
self.placer = PlacerWidget(view, self.seedObj, terrain)
self.placer.start()
else:
self.frameObj.setProperty('Edit', True)
self.frameObj.setProperty('Visible', True)
self.driver = irisDriver
self.safe_region = None
self.addProperty('Visible', True)
self.addProperty('Enabled for Walking', True)
self.addProperty('Alpha', 1.0)
self.addProperty('Color', QtGui.QColor(200, 200, 20))
self.frameObj.connectFrameModified(self.onFrameModified)
if existing_region is None:
self.onFrameModified(self.frameObj)
else:
self.setRegion(existing_region)
self.setProperty('Alpha', 0.5)
self.setProperty('Color', QtGui.QColor(220, 220, 220))
def setRegion(self, safe_region):
debug = DebugData()
pos = safe_region.point
try:
xy_verts = safe_region.xy_polytope()
if xy_verts.shape[1] == 0:
raise QhullError("No points returned")
xyz_verts = np.vstack((xy_verts, pos[2] + 0.02 + np.zeros(
(1, xy_verts.shape[1]))))
xyz_verts = np.hstack((xyz_verts,
np.vstack(
(xy_verts, pos[2] + 0.015 + np.zeros(
(1, xy_verts.shape[1]))))))
# print xyz_verts.shape
polyData = vnp.getVtkPolyDataFromNumpyPoints(xyz_verts.T.copy())
vol_mesh = filterUtils.computeDelaunay3D(polyData)
for j in range(xy_verts.shape[1]):
z = pos[2] + 0.005
p1 = np.hstack((xy_verts[:, j], z))
if j < xy_verts.shape[1] - 1:
p2 = np.hstack((xy_verts[:, j + 1], z))
else:
p2 = np.hstack((xy_verts[:, 0], z))
debug.addLine(p1, p2, color=[.7, .7, .7], radius=0.003)
debug.addPolyData(vol_mesh)
# self.setPolyData(vol_mesh)
self.setPolyData(debug.getPolyData())
self.safe_region = safe_region
except QhullError:
print(
"Could not generate convex hull (polytope is likely unbounded)."
)
def onFrameModified(self, frame):
self.driver.requestIRISRegion(frame.transform, self.uid)
def _onPropertyChanged(self, propertySet, propertyName):
vis.PolyDataItem._onPropertyChanged(self, propertySet, propertyName)
if propertyName == 'Enabled for Walking':
if self.getProperty('Enabled for Walking'):
self.setProperty('Alpha', 0.2)
else:
self.setProperty('Alpha', 0.05)
if propertyName == 'Visible':
self.seedObj.setProperty('Visible', self.getProperty('Visible'))
def onRemoveFromObjectModel(self):
om.removeFromObjectModel(self.frameObj)
om.removeFromObjectModel(self.seedObj)
self.driver.regions.pop(self.uid)
vis.PolyDataItem.onRemoveFromObjectModel(self)
class TerrainRegionItem(vis.PolyDataItem):
def __init__(self, uid, view, seed_pose, irisDriver, existing_region=None):
d = DebugData()
self.uid = uid
vis.PolyDataItem.__init__(self, "IRIS region {:d}".format(uid), d.getPolyData(), view)
self.transform = seed_pose
d.addSphere((0,0,0), radius=0.02)
self.seedObj = vis.showPolyData(d.getPolyData(), 'region seed', parent=om.getOrCreateContainer('IRIS region seeds'))
self.seedObj.actor.SetUserTransform(self.transform)
self.frameObj = vis.showFrame(self.transform, 'region seed frame',
scale=0.2,
visible=False,
parent=self.seedObj)
self.frameObj.setProperty('Edit', True)
self.frameObj.widget.HandleRotationEnabledOff()
terrain = om.findObjectByName('HEIGHT_MAP_SCENE')
if terrain:
rep = self.frameObj.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
pos = np.array(self.frameObj.transform.GetPosition())
polyData = filterUtils.removeNonFinitePoints(terrain.polyData)
if polyData.GetNumberOfPoints():
polyData = segmentation.labelDistanceToLine(polyData, pos, pos+[0,0,1])
polyData = segmentation.thresholdPoints(polyData, 'distance_to_line', [0.0, 0.1])
if polyData.GetNumberOfPoints():
pos[2] = np.nanmax(vnp.getNumpyFromVtk(polyData, 'Points')[:,2])
self.frameObj.transform.Translate(pos - np.array(self.frameObj.transform.GetPosition()))
self.placer = PlacerWidget(view, self.seedObj, terrain)
self.placer.start()
else:
self.frameObj.setProperty('Edit', True)
self.frameObj.setProperty('Visible', True)
self.driver = irisDriver
self.safe_region = None
self.addProperty('Visible', True)
self.addProperty('Enabled for Walking', True)
self.addProperty('Alpha', 1.0)
self.addProperty('Color', QtGui.QColor(200,200,20))
self.frameObj.connectFrameModified(self.onFrameModified)
if existing_region is None:
self.onFrameModified(self.frameObj)
else:
self.setRegion(existing_region)
self.setProperty('Alpha', 0.5)
self.setProperty('Color', QtGui.QColor(220,220,220))
def setRegion(self, safe_region):
debug = DebugData()
pos = safe_region.point
try:
xy_verts = safe_region.xy_polytope()
if xy_verts.shape[1] == 0:
raise QhullError("No points returned")
xyz_verts = np.vstack((xy_verts, pos[2] + 0.02 + np.zeros((1, xy_verts.shape[1]))))
xyz_verts = np.hstack((xyz_verts, np.vstack((xy_verts, pos[2] + 0.015 + np.zeros((1, xy_verts.shape[1]))))))
# print xyz_verts.shape
polyData = vnp.getVtkPolyDataFromNumpyPoints(xyz_verts.T.copy())
vol_mesh = filterUtils.computeDelaunay3D(polyData)
for j in range(xy_verts.shape[1]):
z = pos[2] + 0.005
p1 = np.hstack((xy_verts[:,j], z))
if j < xy_verts.shape[1] - 1:
p2 = np.hstack((xy_verts[:,j+1], z))
else:
p2 = np.hstack((xy_verts[:,0], z))
debug.addLine(p1, p2, color=[.7,.7,.7], radius=0.003)
debug.addPolyData(vol_mesh)
# self.setPolyData(vol_mesh)
self.setPolyData(debug.getPolyData())
self.safe_region = safe_region
except QhullError:
print "Could not generate convex hull (polytope is likely unbounded)."
def onFrameModified(self, frame):
self.driver.requestIRISRegion(frame.transform, self.uid)
def _onPropertyChanged(self, propertySet, propertyName):
vis.PolyDataItem._onPropertyChanged(self, propertySet, propertyName)
if propertyName == 'Enabled for Walking':
if self.getProperty('Enabled for Walking'):
self.setProperty('Alpha', 0.2)
else:
self.setProperty('Alpha', 0.05)
if propertyName == 'Visible':
self.seedObj.setProperty('Visible', self.getProperty('Visible'))
def onRemoveFromObjectModel(self):
om.removeFromObjectModel(self.frameObj)
om.removeFromObjectModel(self.seedObj)
self.driver.regions.pop(self.uid)
vis.PolyDataItem.onRemoveFromObjectModel(self)
class FootstepsPanel(object):
def __init__(self, driver, robotModel, jointController, irisDriver):
self.driver = driver
self.robotModel = robotModel
self.jointController = jointController
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddFootsteps.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.placer = None
self.irisDriver = irisDriver
self.region_seed_frames = []
self.ui = WidgetDict(self.widget.children())
self.ui.walkingGoalButton.connect("clicked()", self.onNewWalkingGoal)
self.ui.walkingPlanButton.connect("clicked()", self.onShowWalkingPlan)
self.ui.stopButton.connect("clicked()", self.onStop)
self.ui.simulateDrakeButton.connect("clicked()", self.onSimulateDrake)
self.ui.haltSimulationDrakeButton.connect("clicked()", self.onHaltSimulationDrake)
self.ui.restoreDefaultsButton.connect("clicked()", lambda: self.applyDefaults())
self.ui.showWalkingVolumesCheck.connect("clicked()", self.onShowWalkingVolumes)
### BDI frame logic
self.ui.hideBDIButton.setVisible(False)
self.ui.showBDIButton.setVisible(False)
self.ui.hideBDIButton.connect("clicked()", self.onHideBDIButton)
self.ui.showBDIButton.connect("clicked()", self.onShowBDIButton)
self.ui.newRegionSeedButton.connect("clicked()", self.onNewRegionSeed)
self.ui.autoIRISSegmentationButton.connect("clicked()", self.onAutoIRISSegmentation)
self._setupPropertiesPanel()
def onShowWalkingVolumes(self):
self.driver.show_contact_slices = self.ui.showWalkingVolumesCheck.checked
folder = om.findObjectByName('walking volumes')
for obj in folder.children():
obj.setProperty('Visible', self.driver.show_contact_slices)
def onNewRegionSeed(self):
t = self.newWalkingGoalFrame(self.robotModel, distanceForward=0.5)
self.irisDriver.newTerrainItem(t)
def onAutoIRISSegmentation(self):
self.irisDriver.autoIRISSegmentation()
def _setupPropertiesPanel(self):
l = QtGui.QVBoxLayout(self.ui.paramsContainer)
l.setMargin(0)
self.propertiesPanel = PythonQt.dd.ddPropertiesPanel()
self.propertiesPanel.setBrowserModeToWidget()
l.addWidget(self.propertiesPanel)
self.panelConnector = propertyset.PropertyPanelConnector(self.driver.params.properties, self.propertiesPanel)
self.driver.params.properties.connectPropertyChanged(self.onPropertyChanged)
PythonQt.dd.ddGroupBoxHider(self.ui.paramsContainer)
def onPropertyChanged(self, propertySet, propertyName):
self.driver.updateRequest()
if propertyName == 'Defaults':
self.applyDefaults()
def applyDefaults(self):
set_name = self.driver.defaults_map[self.driver.params.properties.defaults]
for k, v in self.driver.default_step_params[set_name].iteritems():
self.driver.params.setProperty(k, v)
def newWalkingGoalFrame(self, robotModel, distanceForward=1.0):
t = self.driver.getFeetMidPoint(robotModel)
t.PreMultiply()
t.Translate(distanceForward, 0.0, 0.0)
t.PostMultiply()
return t
def onNewWalkingGoal(self, walkingGoal=None):
walkingGoal = walkingGoal or self.newWalkingGoalFrame(self.robotModel)
frameObj = vis.updateFrame(walkingGoal, 'walking goal', parent='planning', scale=0.25)
frameObj.setProperty('Edit', True)
rep = frameObj.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
frameObj.widget.HandleRotationEnabledOff()
if self.placer:
self.placer.stop()
terrain = om.findObjectByName('HEIGHT_MAP_SCENE')
if terrain:
pos = np.array(frameObj.transform.GetPosition())
polyData = filterUtils.removeNonFinitePoints(terrain.polyData)
if polyData.GetNumberOfPoints():
polyData = segmentation.labelDistanceToLine(polyData, pos, pos+[0,0,1])
polyData = segmentation.thresholdPoints(polyData, 'distance_to_line', [0.0, 0.1])
if polyData.GetNumberOfPoints():
pos[2] = np.nanmax(vnp.getNumpyFromVtk(polyData, 'Points')[:,2])
frameObj.transform.Translate(pos - np.array(frameObj.transform.GetPosition()))
d = DebugData()
d.addSphere((0,0,0), radius=0.03)
handle = vis.showPolyData(d.getPolyData(), 'walking goal terrain handle', parent=frameObj, visible=True, color=[1,1,0])
handle.actor.SetUserTransform(frameObj.transform)
self.placer = PlacerWidget(app.getCurrentRenderView(), handle, terrain)
def onFramePropertyModified(propertySet, propertyName):
if propertyName == 'Edit':
if propertySet.getProperty(propertyName):
self.placer.start()
else:
self.placer.stop()
frameObj.properties.connectPropertyChanged(onFramePropertyModified)
onFramePropertyModified(frameObj, 'Edit')
frameObj.connectFrameModified(self.onWalkingGoalModified)
self.onWalkingGoalModified(frameObj)
def onWalkingGoalModified(self, frame):
om.removeFromObjectModel(om.findObjectByName('footstep widget'))
request = self.driver.constructFootstepPlanRequest(self.jointController.q, frame.transform)
self.driver.sendFootstepPlanRequest(request)
def onExecute(self):
self.driver.commitFootstepPlan(self.driver.lastFootstepPlan)
def onShowWalkingPlan(self):
startPose = self.jointController.getPose('EST_ROBOT_STATE')
self.driver.sendWalkingPlanRequest(self.driver.lastFootstepPlan, startPose, waitForResponse=True)
def onStop(self):
self.driver.sendStopWalking()
def onSimulateDrake(self):
startPose = self.jointController.getPose('EST_ROBOT_STATE')
self.robotModel.setProperty('Visible', False);
self.driver.sendWalkingPlanRequest(self.driver.lastFootstepPlan, startPose, waitForResponse=False, req_type='simulate_drake')
def onHaltSimulationDrake(self):
om.findObjectByName("drake viewer").findChild("robot 1").setProperty("Visible", False)
self.robotModel.setProperty('Visible', True);
self.driver.sendHaltSimulationDrakeRequest()
### BDI frame logic
def onHideBDIButton(self):
self.driver.showBDIPlan = False
self.driver.bdiRobotModel.setProperty('Visible', False)
folder = om.getOrCreateContainer("BDI footstep plan")
om.removeFromObjectModel(folder)
folder = om.getOrCreateContainer("BDI adj footstep plan")
om.removeFromObjectModel(folder)
def onShowBDIButton(self):
self.driver.showBDIPlan = True
self.driver.bdiRobotModel.setProperty('Visible', True)
self.driver.drawBDIFootstepPlan()
self.driver.drawBDIFootstepPlanAdjusted()