def resetTargetPath(self):
for obj in om.getObjects():
if obj.getProperty('Name') == 'target frame desired':
om.removeFromObjectModel(obj)
for obj in om.getObjects():
if obj.getProperty('Name') == 'target frame desired path':
om.removeFromObjectModel(obj)
def getCandidates(self):
namePrefix = self.properties.getProperty('Candidate name prefix')
matchStr = '^%s [0-9]+$' % namePrefix
return [
obj for obj in om.getObjects()
if re.match(matchStr, obj.getProperty('Name'))
]
def getObjectByProp(prop):
if not prop:
return None
for obj in om.getObjects():
if isinstance(obj, FrameItem) and obj.widget.GetRepresentation() == prop:
return obj
if isinstance(prop, vtk.vtkActor):
return getObjectByDataSet(prop.GetMapper().GetInput())
def approveRefit():
for obj in om.getObjects():
if isinstance(obj, segmentation.BlockAffordanceItem):
if 'refit' in obj.getProperty('Name'):
originalObj = om.findObjectByName(obj.getProperty('Name').replace(' refit', ''))
if originalObj:
originalObj.params = obj.params
originalObj.polyData.DeepCopy(obj.polyData)
originalObj.actor.GetUserTransform().SetMatrix(obj.actor.GetUserTransform().GetMatrix())
originalObj.actor.GetUserTransform().Modified()
obj.setProperty('Visible', False)
def spawnTargetAffordance(self):
for obj in om.getObjects():
if obj.getProperty('Name') == 'target':
om.removeFromObjectModel(obj)
targetFrame = transformUtils.frameFromPositionAndRPY([0.6, 0.2, 0.6],
[180, 0, 90])
folder = om.getOrCreateContainer('affordances')
z = DebugData()
z.addLine(np.array([0, 0, 0]),
np.array([-self.boxLength, 0, 0]),
radius=0.02) # main bar
z.addLine(np.array([-self.boxLength, 0, 0]),
np.array([-self.boxLength, 0, self.boxLength]),
radius=0.02) # main bar
z.addLine(np.array([-self.boxLength, 0, self.boxLength]),
np.array([0, 0, self.boxLength]),
radius=0.02) # main bar
z.addLine(np.array([0, 0, self.boxLength]),
np.array([0, 0, 0]),
radius=0.02) # main bar
targetMesh = z.getPolyData()
self.targetAffordance = vis.showPolyData(
targetMesh,
'target',
color=[0.0, 1.0, 0.0],
cls=affordanceitems.FrameAffordanceItem,
parent=folder,
alpha=0.3)
self.targetAffordance.actor.SetUserTransform(targetFrame)
self.targetFrame = vis.showFrame(targetFrame,
'target frame',
parent=self.targetAffordance,
visible=False,
scale=0.2)
self.targetFrame = self.targetFrame.transform
params = dict(length=self.boxLength,
otdf_type='target',
friendly_name='target')
self.targetAffordance.setAffordanceParams(params)
self.targetAffordance.updateParamsFromActorTransform()
def spawnTargetAffordance(self):
for obj in om.getObjects():
if obj.getProperty('Name') == 'target':
om.removeFromObjectModel(obj)
targetFrame = transformUtils.frameFromPositionAndRPY([0.6,0.2,0.6],[180,0,90])
folder = om.getOrCreateContainer('affordances')
z = DebugData()
z.addLine(np.array([0,0,0]), np.array([-self.boxLength,0,0]), radius=0.02) # main bar
z.addLine(np.array([-self.boxLength,0,0]), np.array([-self.boxLength,0,self.boxLength]), radius=0.02) # main bar
z.addLine(np.array([-self.boxLength,0,self.boxLength]), np.array([0,0,self.boxLength]), radius=0.02) # main bar
z.addLine(np.array([0,0,self.boxLength]), np.array([0,0,0]), radius=0.02) # main bar
targetMesh = z.getPolyData()
self.targetAffordance = vis.showPolyData(targetMesh, 'target', color=[0.0, 1.0, 0.0], cls=affordanceitems.FrameAffordanceItem, parent=folder, alpha=0.3)
self.targetAffordance.actor.SetUserTransform(targetFrame)
self.targetFrame = vis.showFrame(targetFrame, 'target frame', parent=self.targetAffordance, visible=False, scale=0.2)
self.targetFrame = self.targetFrame.transform
params = dict(length=self.boxLength, otdf_type='target', friendly_name='target')
self.targetAffordance.setAffordanceParams(params)
self.targetAffordance.updateParamsFromActorTransform()
def updatePolyData(self, viewId, polyData):
obj = self.polyDataObjects.get(viewId)
if obj not in om.getObjects():
obj = None
if not obj:
hiddenMapIds = [9999]
visibleDefault = False if viewId in hiddenMapIds else True
obj = vis.PolyDataItem(self.getNameForViewId(viewId), polyData, self.view)
obj.setProperty('Visible', visibleDefault)
if obj._isPointCloud():
obj.setProperty('Color', [1, 1, 1])
obj.setProperty('Alpha', 0.5)
else:
obj.setProperty('Color', [0, 0.68, 1])
if viewId == lcmdrc.data_request_t.HEIGHT_MAP_SCENE:
obj.setProperty('Surface Mode', 'Wireframe')
folder = om.findObjectByName('Map Server')
folder.addProperty('Min Range', self.reader.GetDistanceRange()[0],
attributes=om.PropertyAttributes(decimals=2, minimum=0.0, maximum=100.0, singleStep=0.25, hidden=False))
folder.addProperty('Max Range', self.reader.GetDistanceRange()[1],
attributes=om.PropertyAttributes(decimals=2, minimum=0.0, maximum=100.0, singleStep=0.25, hidden=False))
folder.addProperty('Edge Filter Angle', self.reader.GetEdgeAngleThreshold(),
attributes=om.PropertyAttributes(decimals=0, minimum=0.0, maximum=60.0, singleStep=1, hidden=False))
om.addToObjectModel(obj, folder)
om.expand(folder)
self.folder = folder
self.polyDataObjects[viewId] = obj
else:
obj.setPolyData(polyData)
if self.colorizeCallback:
self.colorizeCallback(obj)
def getCandidates(self):
namePrefix = self.properties.getProperty('Candidate name prefix')
matchStr = '^%s [0-9]+$' % namePrefix
return [obj for obj in om.getObjects() if re.match(matchStr, obj.getProperty('Name'))]
def getObjectByDataSet(polyData):
for obj in om.getObjects():
if obj.hasDataSet(polyData):
return obj
if useMappingPanel:
taskPanels['Mapping'] = mappingTaskPanel.widget
tasklaunchpanel.init(taskPanels)
splinewidget.init(view, handFactory, robotStateModel)
rt.robotSystem = robotSystem
taskManagerPanel = taskmanagerwidget.init()
for taskDescription in loadTaskDescriptions():
taskManagerPanel.taskQueueWidget.loadTaskDescription(taskDescription[0], taskDescription[1])
taskManagerPanel.taskQueueWidget.setCurrentQueue('Task library')
for obj in om.getObjects():
obj.setProperty('Deletable', False)
if useCOPMonitor and not ikPlanner.fixedBaseArm:
copMonitor = copmonitor.COPMonitor(robotSystem, view);
if useLoggingWidget:
w = lcmloggerwidget.LCMLoggerWidget(statusBar=app.getMainWindow().statusBar())
app.getMainWindow().statusBar().addPermanentWidget(w.button)
if useControllerRate:
def getExistingRobotModels():
return [obj for obj in om.getObjects() if isinstance(obj, RobotModelItem)]
def getExistingRobotModels():
return [obj for obj in om.getObjects() if isinstance(obj, RobotModelItem)]
def getAffordances(self):
return [
obj for obj in om.getObjects()
if isinstance(obj, affordanceitems.AffordanceItem)
]
def getAffordances(self):
return [obj for obj in om.getObjects() if isinstance(obj, affordanceitems.AffordanceItem)]
