robotStateJointController.push()
'''
groundHeight = 0.0
viewFrame = segmentation.transformUtils.frameFromPositionAndRPY([1, -1, groundHeight + 1.5], [0, 0, -35])
segmentationroutines.SegmentationContext.initWithUser(groundHeight, viewFrame)
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioUtils.readPolyData(os.path.join(dataDir, 'tabletop/table-sparse-stereo.vtp'))
vis.showPolyData(polyData, 'pointcloud snapshot original', colorByName='rgb_colors')
polyData = segmentationroutines.sparsifyStereoCloud( polyData )
vis.showPolyData(polyData, 'pointcloud snapshot')
# Use only returns near the robot:
polyData = segmentation.addCoordArraysToPolyData(polyData)
polyData = segmentation.thresholdPoints(polyData, 'distance_along_view_x', [0, 1.3])
segmentation.segmentTableThenFindDrills(polyData, [1.2864902, -0.93351376, 1.10208917])
if app.getTestingInteractiveEnabled():
v = applogic.getCurrentView()
v.camera().SetPosition([3,3,3])
v.camera().SetFocalPoint([0,0,0])
view.show()
app.showObjectModel()
app.start()
class AtlasCommandPanel(object):
def __init__(self):
self.app = ConsoleApp()
self.view = self.app.createView()
self.robotSystem = robotsystem.create(self.view)
jointGroups = getJointGroups()
self.jointTeleopPanel = JointTeleopPanel(self.robotSystem, jointGroups)
self.jointCommandPanel = JointCommandPanel(self.robotSystem)
self.jointCommandPanel.ui.speedSpinBox.setEnabled(False)
self.jointCommandPanel.ui.mirrorArmsCheck.setChecked(
self.jointTeleopPanel.mirrorArms)
self.jointCommandPanel.ui.mirrorLegsCheck.setChecked(
self.jointTeleopPanel.mirrorLegs)
self.jointCommandPanel.ui.resetButton.connect(
'clicked()', self.resetJointTeleopSliders)
self.jointCommandPanel.ui.mirrorArmsCheck.connect(
'clicked()', self.mirrorJointsChanged)
self.jointCommandPanel.ui.mirrorLegsCheck.connect(
'clicked()', self.mirrorJointsChanged)
self.widget = QtGui.QWidget()
gl = QtGui.QGridLayout(self.widget)
gl.addWidget(self.app.showObjectModel(), 0, 0, 4,
1) # row, col, rowspan, colspan
gl.addWidget(self.view, 0, 1, 1, 1)
gl.addWidget(self.jointCommandPanel.widget, 1, 1, 1, 1)
gl.addWidget(self.jointTeleopPanel.widget, 0, 2, -1, 1)
gl.setRowStretch(0, 1)
gl.setColumnStretch(1, 1)
#self.sub = lcmUtils.addSubscriber('COMMITTED_ROBOT_PLAN', lcmdrc.robot_plan_t, self.onRobotPlan)
lcmUtils.addSubscriber('STEERING_COMMAND_POSITION_GOAL',
lcmdrc.joint_position_goal_t,
self.onSingleJointPositionGoal)
lcmUtils.addSubscriber('THROTTLE_COMMAND_POSITION_GOAL',
lcmdrc.joint_position_goal_t,
self.onSingleJointPositionGoal)
def onSingleJointPositionGoal(self, msg):
jointPositionGoal = msg.joint_position
jointName = msg.joint_name
allowedJointNames = ['l_leg_aky', 'l_arm_lwy']
if not (jointName in allowedJointNames):
print 'Position goals are not allowed for this joint'
print 'ignoring this position goal'
print 'use the sliders instead'
return
if (jointName == 'l_arm_lwy') and (
not self.jointCommandPanel.steeringControlEnabled):
print 'Steering control not enabled'
print 'ignoring steering command'
return
if (jointName == 'l_leg_aky') and (
not self.jointCommandPanel.throttleControlEnabled):
print 'Throttle control not enabled'
print 'ignoring throttle command'
return
jointIdx = self.jointTeleopPanel.toJointIndex(joint_name)
self.jointTeleopPanel.endPose[jointIdx] = jointPositionGoal
self.jointTeleopPanel.updateSliders()
self.jointTeleopPanel.sliderChanged(jointName)
def onRobotPlan(self, msg):
playback = planplayback.PlanPlayback()
playback.interpolationMethod = 'pchip'
poseTimes, poses = playback.getPlanPoses(msg)
f = playback.getPoseInterpolator(poseTimes, poses)
jointController = self.robotSystem.teleopJointController
timer = simpletimer.SimpleTimer()
def setPose(pose):
jointController.setPose('plan_playback', pose)
self.jointTeleopPanel.endPose = pose
self.jointTeleopPanel.updateSliders()
commandStream.setGoalPose(pose)
def updateAnimation():
tNow = timer.elapsed()
if tNow > poseTimes[-1]:
pose = poses[-1]
setPose(pose)
return False
pose = f(tNow)
setPose(pose)
self.animationTimer = TimerCallback()
self.animationTimer.targetFps = 60
self.animationTimer.callback = updateAnimation
self.animationTimer.start()
def mirrorJointsChanged(self):
self.jointTeleopPanel.mirrorLegs = self.jointCommandPanel.ui.mirrorLegsCheck.checked
self.jointTeleopPanel.mirrorArms = self.jointCommandPanel.ui.mirrorArmsCheck.checked
def resetJointTeleopSliders(self):
self.jointTeleopPanel.resetPoseToRobotState()
blocks,groundPlane = cwdemo.extractBlocksFromSurfaces(clusters, standingFootFrame)
footsteps = cwdemo.placeStepsOnBlocks(blocks, groundPlane, standingFootName, standingFootFrame)
cwdemo.drawFittedSteps(footsteps)
# cwdemo.sendPlanningRequest(footsteps)
#navigationPanel = navigationpanel.init(robotStateJointController, footstepsDriver)
navigationPanel = None
continuouswalkingDemo = continuouswalkingdemo.ContinousWalkingDemo(robotStateModel, footstepsPanel, robotStateJointController, ikPlanner,
teleopJointController, navigationPanel, cameraview)
cwdemo = continuouswalkingDemo
# test 1
processSingleBlock(robotStateModel, 1)
# test 2 - Table:
processSingleBlock(robotStateModel, 0)
# test 3
processSnippet()
# test 4
continuouswalkingDemo.processContinuousStereo = True
processSnippet()
if app.getTestingInteractiveEnabled():
view.show()
app.showObjectModel()
app.start()
class AtlasCommandPanel(object):
def __init__(self):
self.app = ConsoleApp()
self.view = self.app.createView()
self.robotSystem = robotsystem.create(self.view)
jointGroups = getJointGroups()
self.jointTeleopPanel = JointTeleopPanel(self.robotSystem, jointGroups)
self.jointCommandPanel = JointCommandPanel(self.robotSystem)
self.jointCommandPanel.ui.speedSpinBox.setEnabled(False)
self.jointCommandPanel.ui.mirrorArmsCheck.setChecked(self.jointTeleopPanel.mirrorArms)
self.jointCommandPanel.ui.mirrorLegsCheck.setChecked(self.jointTeleopPanel.mirrorLegs)
self.jointCommandPanel.ui.resetButton.connect('clicked()', self.resetJointTeleopSliders)
self.jointCommandPanel.ui.mirrorArmsCheck.connect('clicked()', self.mirrorJointsChanged)
self.jointCommandPanel.ui.mirrorLegsCheck.connect('clicked()', self.mirrorJointsChanged)
self.widget = QtGui.QWidget()
gl = QtGui.QGridLayout(self.widget)
gl.addWidget(self.app.showObjectModel(), 0, 0, 4, 1) # row, col, rowspan, colspan
gl.addWidget(self.view, 0, 1, 1, 1)
gl.addWidget(self.jointCommandPanel.widget, 1, 1, 1, 1)
gl.addWidget(self.jointTeleopPanel.widget, 0, 2, -1, 1)
gl.setRowStretch(0,1)
gl.setColumnStretch(1,1)
#self.sub = lcmUtils.addSubscriber('COMMITTED_ROBOT_PLAN', lcmdrc.robot_plan_t, self.onRobotPlan)
lcmUtils.addSubscriber('STEERING_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
lcmUtils.addSubscriber('THROTTLE_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
def onSingleJointPositionGoal(self, msg):
jointPositionGoal = msg.joint_position
jointName = msg.joint_name
allowedJointNames = ['l_leg_aky','l_arm_lwy']
if not (jointName in allowedJointNames):
print 'Position goals are not allowed for this joint'
print 'ignoring this position goal'
print 'use the sliders instead'
return
if (jointName == 'l_arm_lwy') and (not self.jointCommandPanel.steeringControlEnabled):
print 'Steering control not enabled'
print 'ignoring steering command'
return
if (jointName == 'l_leg_aky') and (not self.jointCommandPanel.throttleControlEnabled):
print 'Throttle control not enabled'
print 'ignoring throttle command'
return
jointIdx = self.jointTeleopPanel.toJointIndex(joint_name)
self.jointTeleopPanel.endPose[jointIdx] = jointPositionGoal
self.jointTeleopPanel.updateSliders()
self.jointTeleopPanel.sliderChanged(jointName)
def onRobotPlan(self, msg):
playback = planplayback.PlanPlayback()
playback.interpolationMethod = 'pchip'
poseTimes, poses = playback.getPlanPoses(msg)
f = playback.getPoseInterpolator(poseTimes, poses)
jointController = self.robotSystem.teleopJointController
timer = simpletimer.SimpleTimer()
def setPose(pose):
jointController.setPose('plan_playback', pose)
self.jointTeleopPanel.endPose = pose
self.jointTeleopPanel.updateSliders()
commandStream.setGoalPose(pose)
def updateAnimation():
tNow = timer.elapsed()
if tNow > poseTimes[-1]:
pose = poses[-1]
setPose(pose)
return False
pose = f(tNow)
setPose(pose)
self.animationTimer = TimerCallback()
self.animationTimer.targetFps = 60
self.animationTimer.callback = updateAnimation
self.animationTimer.start()
def mirrorJointsChanged(self):
self.jointTeleopPanel.mirrorLegs = self.jointCommandPanel.ui.mirrorLegsCheck.checked
self.jointTeleopPanel.mirrorArms = self.jointCommandPanel.ui.mirrorArmsCheck.checked
def resetJointTeleopSliders(self):
self.jointTeleopPanel.resetPoseToRobotState()
