def setItems(self, items=None):
"""
Set a list of items for the item pager to page-through
"""
itemsPerPage = int(self.itemsPerPage)
if iterableLength(items) <= itemsPerPage:
self.showAllButton.remove()
elif self.showAllButton.toggled():
itemsPerPage = iterableLength(items)
self._pages_ = PositionController(items=items or [],
startIndex=self._index_.value(),
itemsPerPage=itemsPerPage,
pagesShownAtOnce=int(
self.pagesShownAtOnce))
self._index_.setValue(self._pages_.startIndex)
def create_controllers(pack_path):
cmd_queue, settings, cp_dict, s_objs, s_walls, c_objs, cam_dict = get_configs(
pack_path)
arm_s = settings['arm_planning']
pos_s = settings['navigation']
# Creates all the controllers necessary for scene execution.
# Offsets according to URDF. Have to be adjusted in case of frame changes! For more info refer to constructor in ArmController.py.
arm_ctrl = ArmController(jnt_st=arm_s['joint_state_topic'],
eef_offset=arm_s['eef_offset'],
f_off_x=arm_s['f_off_x'],
f_off_y=arm_s['f_off_y'],
f_off_w=arm_s['f_off_w'],
rbt_name=pos_s['robot_name'])
s_ldr = SceneLoader(arm_ctrl.get_scene(), world_ff='world')
pos_ctrl = PositionController(pos_s['robot_name'], c_objs=c_objs)
opt_s = pos_s['optimization']
pos_ctrl.set_opt_params(opt_s['local_threshold'], opt_s['local_timeout'],
opt_s['global_threshold'], opt_s['global_timeout'])
rbt_ctrl = RobotController(cmd_queue, cp_dict, arm_ctrl, pos_ctrl, s_ldr,
s_objs, s_walls)
# Enable geoometric Alternative to avoid being stuck in a pose.
rbt_ctrl.set_geo_alt(arm_s['set_geo_alt'])
return arm_ctrl, s_ldr, pos_ctrl, rbt_ctrl
def setItems(self, items=None):
"""
Set a list of items for the item pager to page-through
"""
itemsPerPage = int(self.itemsPerPage)
if iterableLength(items) <= itemsPerPage:
self.showAllButton.remove()
elif self.showAllButton.toggled():
itemsPerPage = iterableLength(items)
self._pages_ = PositionController(items=items or [], startIndex=self._index_.value(),
itemsPerPage=itemsPerPage,
pagesShownAtOnce=int(self.pagesShownAtOnce))
self._index_.setValue(self._pages_.startIndex)
class ItemPager(Layout.Vertical):
"""
Paged Results:
Encapsulates the UI logic for paging multiple item from a database or other source.
"""
signals = Base.TemplateElement.signals + ['jsIndexChanged']
properties = Base.TemplateElement.properties.copy()
properties['itemsPerPage'] = {'action':'classAttribute', 'type':'int'}
properties['pagesShownAtOnce'] = {'action':'classAttribute', 'type':'int'}
def __init__(self, id, name=None, parent=None):
Layout.Vertical.__init__(self, id, name, parent)
positionLayout = self.addChildElement(Layout.Horizontal())
label = positionLayout.addChildElement(Display.Label())
label.setText('Showing Results')
label.addClass('Spaced Word')
self.resultsStartAt = positionLayout.addChildElement(Display.Label())
self.resultsStartAt.strong = True
self.resultsStartAt.setText('1')
self.resultsStartAt.addClass('SpacedWord')
label = positionLayout.addChildElement(Display.Label())
label.setText('-')
label.addClass('Spaced Word')
self.resultsEndAt = positionLayout.addChildElement(Display.Label())
self.resultsEndAt.strong = True
self.resultsEndAt.setText('25')
self.resultsEndAt.addClass('SpacedWord')
label = positionLayout.addChildElement(Display.Label())
label.setText('out of')
label.addClass('Spaced Word')
self.numberOfResults = positionLayout.addChildElement(Display.Label())
self.numberOfResults.strong = True
self.numberOfResults.setText('100')
self.numberOfResults.addClass('SpacedWord')
self.showAllButton = positionLayout.addChildElement(Buttons.ToggleButton('showAllButton'))
self.showAllButton.setText("Show All")
buttonLayout = self.addChildElement(Layout.Horizontal())
self.startButton = buttonLayout.addChildElement(Buttons.Link())
self.startButton.setText("<<")
self.startButton.setDestination("#Link")
self.backButton = buttonLayout.addChildElement(Buttons.Link())
self.backButton.setText("< Back")
self.backButton.setDestination("#Link")
self.backButton.addClass("SpacedWord")
self.pageLinks = buttonLayout.addChildElement(Layout.Flow())
self.nextButton = buttonLayout.addChildElement(Buttons.Link())
self.nextButton.setText("Next >")
self.nextButton.setDestination("#Link")
self.lastButton = buttonLayout.addChildElement(Buttons.Link())
self.lastButton.setText(">>")
self.lastButton.setDestination("#Link")
self.lastButton.addClass("SpacedWord")
self.pagesShownAtOnce = 15
self.itemsPerPage = 25
self._index_ = self.addChildElement(HiddenInputs.HiddenIntValue(id + 'Index'))
self._pages_ = None
self.connect('beforeToHtml', None, self, '_updateUI_')
self.showAllButton.addJavascriptEvent('onclick', "JUReplaceElement(this, JUBuildThrobber());")
self.showAllButton.connect('jsToggled', None, self, 'jsSetNavigationIndex', 0)
self.showAllButton.connect('toggled', True, self.showAllButton, 'setValue', 'Show in Pages')
self.showAllButton.connect('toggled', False, self.showAllButton, 'setValue', 'Show All')
def setItems(self, items=None):
"""
Set a list of items for the item pager to page-through
"""
itemsPerPage = int(self.itemsPerPage)
if iterableLength(items) <= itemsPerPage:
self.showAllButton.remove()
elif self.showAllButton.toggled():
itemsPerPage = iterableLength(items)
self._pages_ = PositionController(items=items or [], startIndex=self._index_.value(),
itemsPerPage=itemsPerPage,
pagesShownAtOnce=int(self.pagesShownAtOnce))
self._index_.setValue(self._pages_.startIndex)
def currentPageItems(self):
"""
The items contained in the currently highlighted page
"""
return self._pages_.currentPageItems
def jsSetNavigationIndex(self, index):
"""
Creates the javascript to switch to a different position within the items:
index - the first item you want to appear in your pages results
"""
return ("JUGetElement('%(id)sIndex').value = '%(index)d';%(handlers)s;" %
{'id':self.jsId(), 'index':index, 'handlers':"\n".join(self.emit('jsIndexChanged'))})
def _updateUI_(self):
"""
Updates the ui to reflect the currently selected page and provide links to other pages
"""
if not self._pages_:
return
elif not self.currentPageItems():
self.hide()
return
self.resultsStartAt.setText(self._pages_.startPosition)
self.resultsEndAt.setText(self._pages_.nextPageIndex)
self.numberOfResults.setText(self._pages_.length)
if self._pages_.areMore:
self.nextButton.show()
self.lastButton.show()
self.nextButton.addJavascriptEvent('onclick', self.jsSetNavigationIndex(self._pages_.nextPageIndex))
self.lastButton.addJavascriptEvent('onclick', self.jsSetNavigationIndex(self._pages_.lastPageIndex))
else:
self.nextButton.hide()
self.lastButton.hide()
if self._pages_.arePrev:
self.backButton.show()
self.startButton.show()
self.backButton.addJavascriptEvent('onclick', self.jsSetNavigationIndex(self._pages_.prevPageIndex))
self.startButton.addJavascriptEvent('onclick', self.jsSetNavigationIndex(0))
else:
self.backButton.hide()
self.startButton.hide()
pageList = self._pages_.pageList()
if len(pageList) > 1:
for page in self._pages_.pageList():
link = self.pageLinks.addChildElement(Buttons.Link())
link.setText(unicode(page / self._pages_.itemsPerPage + 1))
link.addClass('SpacedWord')
if page != self._index_.value():
link.setDestination('#Link')
link.addJavascriptEvent('onclick', self.jsSetNavigationIndex(page))
def main():
main_pack = 'robot_cinematics'
# Initialize the ROS node to enable all ROS functions.
rospy.init_node('robot_controller', anonymous=True)
# Check if Gazebo is running.
try:
rospy.wait_for_service('/gazebo/get_physics_properties', timeout=1)
except rospy.ROSException:
rospy.logerr("Gazebo not running, no scene execution possible!")
return
valid = False
rospack = rospkg.RosPack()
pack_path = rospack.get_path(main_pack)
# Choose a scene configuration.
print('##########################################')
print('######### Choose a scene number! #########')
print('##########################################')
while not valid:
s_nr = input()
s_path = pack_path + "/cinematics/scene/scene" + str(s_nr) + ".yaml"
try:
with open(s_path, 'r') as stream:
data = yaml.safe_load(stream)
cmd_queue = Queue.Queue(maxsize=0)
for i in range(1,len(data.keys())+1):
if 'eef_angle' in data['action'+str(i)].keys():
if 'pi' in str(data['action'+str(i)]['eef_angle']):
data['action'+str(i)]['eef_angle'] = data['action'+str(i)]['eef_angle'].replace('pi',str(math.pi))
data['action'+str(i)]['eef_angle'] = eval(data['action'+str(i)]['eef_angle'])
cmd_queue.put(data['action'+str(i)])
valid = True
except IOError:
valid = False
print "Please choose a valid number!"
settings, cp_dict, s_objs, s_walls, c_objs = load_files(pack_path) # Reads all config files.
arm_s = settings['arm_planning']
pos_s = settings['navigation']
# Creates all the controllers necessary for scene execution.
# Settings are read from the yaml file in the demo/config folder!
arm_ctrl = ArmController(arm_group = arm_s['arm_group'], jnt_st = arm_s['joint_state_topic'], eef_offset=arm_s['eef_offset'], f_off_x=arm_s['f_off_x'], f_off_y=arm_s['f_off_y'], f_off_w=arm_s['f_off_w'], rbt_name=pos_s['robot_name'])
arm_ctrl.set_grab_type(arm_s['grab_type'])
s_ldr = SceneLoader(arm_ctrl.get_scene(),world_ff='world')
pos_ctrl = PositionController(pos_s['robot_name'], c_objs=c_objs)
opt_s = pos_s['optimization']
pos_ctrl.set_opt_params(opt_s['local_threshold'], opt_s['local_timeout'], opt_s['global_threshold'], opt_s['global_timeout'])
rbt_ctrl = RobotController(cmd_queue,cp_dict,arm_ctrl,pos_ctrl,s_ldr,s_objs, s_walls)
# Enable geoometric Alternative to avoid being stuck in a pose.
rbt_ctrl.set_geo_alt(arm_s['set_geo_alt'])
print('#########################################')
print('########## Record scene? (y/n) ##########')
print('#########################################')
ans = raw_input()
if ans in ['y', 'Y']: # Records the scene to pack_path/videos. Overrides already existing videos!
print('#########################################')
print('##### Files will be stored under: ######')
print('##### robot_cinematics/videos ######')
print('#########################################')
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
launch = roslaunch.parent.ROSLaunchParent(uuid, [pack_path + '/launch/camera_manager.launch'])
launch.start()
rospy.loginfo("Started camera manager.")
rbt_ctrl.exec_scene()
rospy.sleep(1)
if ans in ['y', 'Y']:
launch.shutdown()
class ItemPager(Layout.Vertical):
"""
Paged Results:
Encapsulates the UI logic for paging multiple item from a database or other source.
"""
__slots__ = (
"resultsStartAt",
"numberOfResults",
"showAllButton",
"startButton",
"backButton",
"pageLinks",
"nextButton",
"lastButton",
"pagesShownAtOnce",
"itemsPerPage",
"_index_",
"_pages_",
"resultsEndAt",
)
signals = Base.TemplateElement.signals + ["jsIndexChanged"]
properties = Base.TemplateElement.properties.copy()
properties["itemsPerPage"] = {"action": "classAttribute", "type": "int"}
properties["pagesShownAtOnce"] = {"action": "classAttribute", "type": "int"}
def __init__(self, id, name=None, parent=None, **kwargs):
Layout.Vertical.__init__(self, id, name, parent, **kwargs)
positionLayout = self.addChildElement(Layout.Horizontal())
positionLayout.addClass("WActions")
label = positionLayout.addChildElement(Display.Label())
label.setText("Showing Results")
label.addClass("WSpaced")
self.resultsStartAt = positionLayout.addChildElement(Display.Label())
self.resultsStartAt.makeStrong()
self.resultsStartAt.setText("1")
self.resultsStartAt.addClass("WSpaced")
label = positionLayout.addChildElement(Display.Label())
label.setText("-")
label.addClass("WSpaced")
self.resultsEndAt = positionLayout.addChildElement(Display.Label())
self.resultsEndAt.makeStrong()
self.resultsEndAt.setText("25")
self.resultsEndAt.addClass("WSpaced")
label = positionLayout.addChildElement(Display.Label())
label.setText("out of")
label.addClass("WSpaced")
self.numberOfResults = positionLayout.addChildElement(Display.Label())
self.numberOfResults.makeStrong()
self.numberOfResults.setText("100")
self.numberOfResults.addClass("WSpaced")
self.showAllButton = positionLayout.addChildElement(Buttons.ToggleButton("showAllButton"))
self.showAllButton.setText("Show All")
buttonLayout = self.addChildElement(Layout.Horizontal())
self.startButton = buttonLayout.addChildElement(Buttons.Link())
self.startButton.setText("<<")
self.startButton.setDestination("#Link")
self.backButton = buttonLayout.addChildElement(Buttons.Link())
self.backButton.setText("< Back")
self.backButton.setDestination("#Link")
self.backButton.addClass("WSpaced")
self.pageLinks = buttonLayout.addChildElement(Layout.Flow())
self.nextButton = buttonLayout.addChildElement(Buttons.Link())
self.nextButton.setText("Next >")
self.nextButton.setDestination("#Link")
self.lastButton = buttonLayout.addChildElement(Buttons.Link())
self.lastButton.setText(">>")
self.lastButton.setDestination("#Link")
self.lastButton.addClass("WSpaced")
self.pagesShownAtOnce = 15
self.itemsPerPage = 25
self._index_ = self.addChildElement(HiddenInputs.HiddenIntValue(id + "Index"))
self._pages_ = None
self.connect("rendering", None, self, "_updateUI_")
self.showAllButton.addJavascriptEvent("onclick", "WebElements.replace(this, WebElements.buildThrobber());")
self.showAllButton.connect("jsToggled", None, self, "jsSetNavigationIndex", 0)
self.showAllButton.connect("toggled", True, self.showAllButton, "setValue", "Show in Pages")
self.showAllButton.connect("toggled", False, self.showAllButton, "setValue", "Show All")
def setItems(self, items=None):
"""
Set a list of items for the item pager to page-through
"""
itemsPerPage = int(self.itemsPerPage)
if iterableLength(items) <= itemsPerPage:
self.showAllButton.remove()
elif self.showAllButton.toggled():
itemsPerPage = iterableLength(items)
self._pages_ = PositionController(
items=items or [],
startIndex=self._index_.value(),
itemsPerPage=itemsPerPage,
pagesShownAtOnce=int(self.pagesShownAtOnce),
)
self._index_.setValue(self._pages_.startIndex)
def currentPageItems(self):
"""
The items contained in the currently highlighted page
"""
return self._pages_.currentPageItems
def jsSetNavigationIndex(self, index):
"""
Creates the javascript to switch to a different position within the items:
index - the first item you want to appear in your pages results
"""
return "WebElements.get('%(id)sIndex').value = '%(index)d';%(handlers)s;" % {
"id": self.fullId(),
"index": index,
"handlers": "\n".join([ClientSide.var(result) for result in self.emit("jsIndexChanged")]),
}
def _updateUI_(self):
"""
Updates the ui to reflect the currently selected page and provide links to other pages
"""
if not self._pages_:
return
elif not self.currentPageItems():
self.hide()
return
self.resultsStartAt.setText(self._pages_.startPosition)
self.resultsEndAt.setText(self._pages_.nextPageIndex)
self.numberOfResults.setText(self._pages_.length)
if self._pages_.areMore:
self.nextButton.show()
self.lastButton.show()
self.nextButton.addJavascriptEvent("onclick", self.jsSetNavigationIndex(self._pages_.nextPageIndex))
self.lastButton.addJavascriptEvent("onclick", self.jsSetNavigationIndex(self._pages_.lastPageIndex))
else:
self.nextButton.hide()
self.lastButton.hide()
if self._pages_.arePrev:
self.backButton.show()
self.startButton.show()
self.backButton.addJavascriptEvent("onclick", self.jsSetNavigationIndex(self._pages_.prevPageIndex))
self.startButton.addJavascriptEvent("onclick", self.jsSetNavigationIndex(0))
else:
self.backButton.hide()
self.startButton.hide()
pageList = self._pages_.pageList()
if len(pageList) > 1:
for page in self._pages_.pageList():
link = self.pageLinks.addChildElement(Buttons.Link())
link.setText(unicode(page / self._pages_.itemsPerPage + 1))
link.addClass("WSpaced")
if page != self._index_.value():
link.setDestination("#Link")
link.addJavascriptEvent("onclick", self.jsSetNavigationIndex(page))
class ItemPager(Layout.Vertical):
"""
Paged Results:
Encapsulates the UI logic for paging multiple item from a database or other source.
"""
signals = Base.TemplateElement.signals + ['jsIndexChanged']
properties = Base.TemplateElement.properties.copy()
properties['itemsPerPage'] = {'action': 'classAttribute', 'type': 'int'}
properties['pagesShownAtOnce'] = {
'action': 'classAttribute',
'type': 'int'
}
def __init__(self, id, name=None, parent=None):
Layout.Vertical.__init__(self, id, name, parent)
positionLayout = self.addChildElement(Layout.Horizontal())
label = positionLayout.addChildElement(Display.Label())
label.setText('Showing Results')
label.addClass('Spaced Word')
self.resultsStartAt = positionLayout.addChildElement(Display.Label())
self.resultsStartAt.strong = True
self.resultsStartAt.setText('1')
self.resultsStartAt.addClass('SpacedWord')
label = positionLayout.addChildElement(Display.Label())
label.setText('-')
label.addClass('Spaced Word')
self.resultsEndAt = positionLayout.addChildElement(Display.Label())
self.resultsEndAt.strong = True
self.resultsEndAt.setText('25')
self.resultsEndAt.addClass('SpacedWord')
label = positionLayout.addChildElement(Display.Label())
label.setText('out of')
label.addClass('Spaced Word')
self.numberOfResults = positionLayout.addChildElement(Display.Label())
self.numberOfResults.strong = True
self.numberOfResults.setText('100')
self.numberOfResults.addClass('SpacedWord')
self.showAllButton = positionLayout.addChildElement(
Buttons.ToggleButton('showAllButton'))
self.showAllButton.setText("Show All")
buttonLayout = self.addChildElement(Layout.Horizontal())
self.startButton = buttonLayout.addChildElement(Buttons.Link())
self.startButton.setText("<<")
self.startButton.setDestination("#Link")
self.backButton = buttonLayout.addChildElement(Buttons.Link())
self.backButton.setText("< Back")
self.backButton.setDestination("#Link")
self.backButton.addClass("SpacedWord")
self.pageLinks = buttonLayout.addChildElement(Layout.Flow())
self.nextButton = buttonLayout.addChildElement(Buttons.Link())
self.nextButton.setText("Next >")
self.nextButton.setDestination("#Link")
self.lastButton = buttonLayout.addChildElement(Buttons.Link())
self.lastButton.setText(">>")
self.lastButton.setDestination("#Link")
self.lastButton.addClass("SpacedWord")
self.pagesShownAtOnce = 15
self.itemsPerPage = 25
self._index_ = self.addChildElement(
HiddenInputs.HiddenIntValue(id + 'Index'))
self._pages_ = None
self.connect('beforeToHtml', None, self, '_updateUI_')
self.showAllButton.addJavascriptEvent(
'onclick', "JUReplaceElement(this, JUBuildThrobber());")
self.showAllButton.connect('jsToggled', None, self,
'jsSetNavigationIndex', 0)
self.showAllButton.connect('toggled', True, self.showAllButton,
'setValue', 'Show in Pages')
self.showAllButton.connect('toggled', False, self.showAllButton,
'setValue', 'Show All')
def setItems(self, items=None):
"""
Set a list of items for the item pager to page-through
"""
itemsPerPage = int(self.itemsPerPage)
if iterableLength(items) <= itemsPerPage:
self.showAllButton.remove()
elif self.showAllButton.toggled():
itemsPerPage = iterableLength(items)
self._pages_ = PositionController(items=items or [],
startIndex=self._index_.value(),
itemsPerPage=itemsPerPage,
pagesShownAtOnce=int(
self.pagesShownAtOnce))
self._index_.setValue(self._pages_.startIndex)
def currentPageItems(self):
"""
The items contained in the currently highlighted page
"""
return self._pages_.currentPageItems
def jsSetNavigationIndex(self, index):
"""
Creates the javascript to switch to a different position within the items:
index - the first item you want to appear in your pages results
"""
return (
"JUGetElement('%(id)sIndex').value = '%(index)d';%(handlers)s;" % {
'id': self.jsId(),
'index': index,
'handlers': "\n".join(self.emit('jsIndexChanged'))
})
def _updateUI_(self):
"""
Updates the ui to reflect the currently selected page and provide links to other pages
"""
if not self._pages_:
return
elif not self.currentPageItems():
self.hide()
return
self.resultsStartAt.setText(self._pages_.startPosition)
self.resultsEndAt.setText(self._pages_.nextPageIndex)
self.numberOfResults.setText(self._pages_.length)
if self._pages_.areMore:
self.nextButton.show()
self.lastButton.show()
self.nextButton.addJavascriptEvent(
'onclick',
self.jsSetNavigationIndex(self._pages_.nextPageIndex))
self.lastButton.addJavascriptEvent(
'onclick',
self.jsSetNavigationIndex(self._pages_.lastPageIndex))
else:
self.nextButton.hide()
self.lastButton.hide()
if self._pages_.arePrev:
self.backButton.show()
self.startButton.show()
self.backButton.addJavascriptEvent(
'onclick',
self.jsSetNavigationIndex(self._pages_.prevPageIndex))
self.startButton.addJavascriptEvent('onclick',
self.jsSetNavigationIndex(0))
else:
self.backButton.hide()
self.startButton.hide()
pageList = self._pages_.pageList()
if len(pageList) > 1:
for page in self._pages_.pageList():
link = self.pageLinks.addChildElement(Buttons.Link())
link.setText(unicode(page / self._pages_.itemsPerPage + 1))
link.addClass('SpacedWord')
if page != self._index_.value():
link.setDestination('#Link')
link.addJavascriptEvent('onclick',
self.jsSetNavigationIndex(page))
