def setup(self):
self.properties.addProperty('Smooth Time (s)',
0.5,
attributes=propertyset.PropertyAttributes(
decimals=1,
minimum=0.1,
maximum=5,
singleStep=0.1))
self.properties.addProperty('Distance (m)',
15,
attributes=propertyset.PropertyAttributes(
decimals=1,
minimum=0.5,
maximum=1000.0,
singleStep=1))
self.properties.addProperty('Elevation (deg)',
10,
attributes=propertyset.PropertyAttributes(
minimum=-90, maximum=90, singleStep=2))
self.properties.addProperty('Azimuth (deg)',
0,
attributes=propertyset.PropertyAttributes(
minimum=-180,
maximum=180,
singleStep=10))
def getDefaultProperties(properties):
properties.addProperty('Frame input name', '')
properties.addProperty('Frame output name', '')
properties.addProperty('Translation', [0.0, 0.0, 0.0],
attributes=propertyset.PropertyAttributes(
decimals=3, minimum=-1e5, maximum=1e5))
properties.addProperty('Rotation', [0.0, 0.0, 0.0],
attributes=propertyset.PropertyAttributes(
decimals=3, minimum=-360, maximum=360))
def getDefaultProperties(properties):
properties.addProperty('Position', [0., 0., 0.],
attributes=propertyset.PropertyAttributes(
decimals=3, minimum=-1, maximum=1))
properties.addProperty('Orientation', [0.0, 0.0, 0.0],
attributes=propertyset.PropertyAttributes(
decimals=3, minimum=-360, maximum=360))
properties.addProperty('Dimensions', [0.1, 0.2, 0.3],
attributes=propertyset.PropertyAttributes(
decimals=3, minimum=0.001, maximum=1))
def getDefaultProperties(properties):
properties.addProperty('Timeout',
5.0,
attributes=propertyset.PropertyAttributes(
minimum=0.0,
maximum=1e4,
singleStep=0.1,
decimals=2))
def __init__(self, robotSystem, optitrack_vis):
TaskUserPanel.__init__(self, windowTitle='Task Panel')
robottasks.robotSystem = robotSystem
iiwaplanning.init(robotSystem)
self.planner = myplanner.MyPlanner(robotSystem, self.params)
self.ui.imageFrame.hide()
self.robotSystem = robotSystem
# Robot toy dimensions
self._default_target_dimensions = [0.06, 0.02, 0.09]
# Water bottle dimensions
#self._default_target_dimensions = [0.07, 0.07, 0.22]
# Squishy ball dimensions
#
# TODO(sam.creasey): Why does the squishy ball generate such
# weird / bound up plans at position 1?
#self._default_target_dimensions = [0.06, 0.06, 0.06]
self.addManualButton('add grasp frames', self.addGraspFrameFromList)
self.addManualButton('plan pregrasp', self.planner.planPreGrasp)
self.addManualButton('plan grasp', self.planner.planGrasp)
self.params.addProperty(
self.rigid_body_target_name,
0,
attributes=propertyset.PropertyAttributes(enumNames=[""]))
self.params.addProperty(self.rigid_body_base_name,
0,
attributes=propertyset.PropertyAttributes(
enumNames=[self.rigid_body_base_none]))
optitrack_vis.connectRigidBodyListChanged(self.rigidBodyListChanged)
self.optitrack_vis = optitrack_vis
self.params.addProperty(
'Frame 1', [0.8, 0.36, 0.27, 0., 0., 0.],
attributes=propertyset.PropertyAttributes(singleStep=0.01))
self.params.addProperty(
'Frame 2', [0.8, -0.36, 0.27, 0., 0., 0.],
attributes=propertyset.PropertyAttributes(singleStep=0.01))
self.params.addProperty(self.place_target_name,
0,
attributes=propertyset.PropertyAttributes(
enumNames=['Frame 1', 'Frame 2']))
self.addTasks()
def setup(self):
super(OrbitTracker, self).setup()
self.properties.addProperty(
"Orbit Time (s)",
20,
attributes=propertyset.PropertyAttributes(
minimum=1, maximum=100, singleStep=1
),
)
def getDefaultProperties(properties):
properties.addProperty('Normal estimation search radius',
0.03,
attributes=propertyset.PropertyAttributes(
decimals=3, minimum=0.0, maximum=100))
properties.addProperty('Cluster tolerance',
0.02,
attributes=propertyset.PropertyAttributes(
decimals=3, minimum=0.0, maximum=10))
properties.addProperty('Min cluster size',
150,
attributes=propertyset.PropertyAttributes(
minimum=3, maximum=1e6))
properties.addProperty('Distance to plane threshold',
0.01,
attributes=propertyset.PropertyAttributes(
decimals=4, minimum=0.0, maximum=1))
properties.addProperty('Normals dot up range', [0.9, 1.0],
attributes=propertyset.PropertyAttributes(
decimals=2, minimum=0.0, maximum=1))
def getDefaultProperties(properties):
properties.addProperty(
'Side',
0,
attributes=om.PropertyAttributes(enumNames=['Left', 'Right']))
properties.addProperty(
'Mode',
0,
attributes=om.PropertyAttributes(enumNames=['Basic', 'Pinch']))
properties.addProperty('Amount',
100,
attributes=propertyset.PropertyAttributes(
minimum=0, maximum=100))
properties.addProperty('Check status', False)
def getDefaultProperties(properties):
properties.addProperty('Annotation input name', '')
properties.addProperty('Cluster tolerance', 0.02, attributes=propertyset.PropertyAttributes(decimals=3, minimum=0.0, maximum=10))
def getDefaultProperties(properties):
properties.addProperty('Number of sweeps', 1, attributes=propertyset.PropertyAttributes(minimum=0, maximum=100))
def getDefaultProperties(properties):
properties.addProperty('Delay time', 1.0, attributes=propertyset.PropertyAttributes(minimum=0.0, maximum=1e4, singleStep=0.1))
