def build_from_json(self, json):
'''Fills out action using information using json from db
Args:
dict : json/dict retrieved from couchdb
'''
self._action_id = json['id']
self._name = json['name']
self._primitive_counter = json['primitive_counter']
for primitive in json['seq']:
if primitive.has_key('arm_target'):
target = primitive['arm_target']
primitive = ArmTarget(self._robot, self._tf_listener,
self._im_server)
primitive.build_from_json(target)
elif primitive.has_key('arm_trajectory'):
target = primitive['arm_trajectory']
primitive = ArmTrajectory(self._robot, self._tf_listener,
self._im_server)
primitive.build_from_json(target)
self.add_primitive(primitive, False, False)
self.reset_viz()
def add_arm_target_to_action(self):
'''Add a new ArmTarget primitive to the current action.'''
if self.n_actions() > 0:
arm_state = self._robot.get_arm_state()
gripper_state = self._robot.get_gripper_state()
rospy.loginfo("gripper_state: {}".format(gripper_state))
current_action = self._actions[self._current_action_id]
primitive_number = current_action.n_primitives()
arm_target = ArmTarget(self._robot, self._tf_listener,
self._im_server, arm_state, gripper_state,
primitive_number)
current_action.add_primitive(arm_target)
else:
rospy.logwarn("Can't add primitive: No actions created yet.")
self._update_session_state()
def build_from_json(self, json):
'''Fills out action using information using json from db
Args:
dict : json/dict retrieved from couchdb
'''
enabled = True
self._action_id = json['id']
self._name = json['name']
self._primitive_counter = json['primitive_counter']
for primitive in json['seq']:
if primitive.has_key('arm_target'):
target = primitive['arm_target']
primitive = ArmTarget(self._robot, self._tf_listener,
self._im_server)
primitive.build_from_json(target)
elif primitive.has_key('arm_trajectory'):
target = primitive['arm_trajectory']
primitive = ArmTrajectory(self._robot, self._tf_listener,
self._im_server)
primitive.build_from_json(target)
elif primitive.has_key('grasp'):
if self._grasp_suggestion_service == "":
enabled = False
target = primitive['grasp']
primitive = Grasp(self._robot, self._tf_listener,
self._im_server,
self._grasp_im_server,
self._grasp_suggestion_service,
self._grasp_feedback_topic,
self._external_ee_link)
primitive.build_from_json(target)
self.add_primitive(primitive, False, False)
self.reset_viz()
return enabled
def copy_primitive(self, primitive_number):
'''Make a copy of a primitive
Args:
primitive (int)
'''
# new_id = self.n_actions()
map_fun = '''function(doc) {
emit(doc.id, doc);
}'''
results = self._db.query(map_fun)
# Load data from db into Action objects.
new_num = self.n_primitives()
for result in results:
if int(result.value['id']) == self._current_action_id:
for idx, primitive in enumerate(result.value['seq']):
if idx == primitive_number:
if primitive.has_key('arm_target'):
target = primitive['arm_target']
primitive_copy = ArmTarget(self._robot,
self._tf_listener,
self._im_server)
primitive_copy.build_from_json(target)
primitive_copy.set_primitive_number(new_num)
break
elif primitive.has_key('arm_trajectory'):
target = primitive['arm_trajectory']
primitive_copy = ArmTrajectory(
self._robot, self._tf_listener,
self._im_server)
primitive_copy.build_from_json(target)
primitive_copy.set_primitive_number(new_num)
break
self._actions[self._current_action_id].add_primitive(primitive_copy)
self._actions[self._current_action_id].update_viz()
self._update_session_state()