Exemple #1
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    def __init__(self, robotSystem):

        TaskUserPanel.__init__(self, windowTitle='Sit/Stand')

        self.robotSystem = robotSystem
        self.sitStandPlanner = SitStandPlanner(robotSystem.ikServer, robotSystem)
        self.addDefaultProperties()
        self.addButtons()
        self.addTasks()
Exemple #2
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    def __init__(self, robotSystem):

        TaskUserPanel.__init__(self, windowTitle='Platform Task')

        self.robotSystem = robotSystem
        self.platformPlanner = PolarisPlatformPlanner(robotSystem.ikServer, robotSystem)
        self.addButtons()
        self.addDefaultProperties()
        self.addTasks()
Exemple #3
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    def __init__(self, robotSystem):

        TaskUserPanel.__init__(self, windowTitle='Surprise Task')

        self.planner = SurpriseTaskPlanner(robotSystem)
        self.switchPlanner = switchplanner.SwitchPlanner(robotSystem)
        self.fitter = ImageFitter(self.switchPlanner)
        self.initImageView(self.fitter.imageView)

        self.addDefaultProperties()
        self.addButtons()
        self.addSwitchTasks()
Exemple #4
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    def __init__(self, mappingDemo, mappingPanel):

        TaskUserPanel.__init__(self, windowTitle='Room Mapping')

        self.mappingDemo = mappingDemo
        self.mappingPanel = mappingPanel

        #self.addDefaultProperties()
        self.addButtons()
        self.addTasks()

        self.fitter = MappingImageFitter(self.mappingDemo)
        self.initImageView(self.fitter.imageView)
Exemple #5
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    def __init__(self, robotSystem, imageView):

        TaskUserPanel.__init__(self, windowTitle='Task Panel')

        rt.robotSystem = robotSystem
        iiwaplanning.init(robotSystem)

        self.planner = MyPlanner(robotSystem, self.params)
        self.fitter = ImageFitter(self.planner, imageView)
        self.initImageView(self.fitter.imageView)

        self.addDefaultProperties()
        self.addButtons()
        self.addTasks()
    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()