def start(self):
self.proxy.start()
#print 'Enable RVIZ [n]?'
self.rviz = False
#if m3t.get_yes_no('n'):
# self.rviz = True
chain_names = self.proxy.get_chain_components()
self.chain = []
if len(chain_names) > 0:
print 'Select kinematic chain'
self.chain_names = m3t.user_select_components_interactive(
chain_names, single=True)
self.chain.append(m3f.create_component(self.chain_names[0]))
self.proxy.subscribe_status(self.chain[-1])
self.limb = m3t.get_chain_limb_name(self.chain_names[0])
joint_names = m3t.get_chain_joint_names(self.chain_names[0])
print 'Select joint'
joint_names = m3t.user_select_components_interactive(joint_names,
single=True)
self.joint = []
self.actuator = []
self.actuator_ec = []
acutator_names = []
for n in joint_names:
self.joint.append(m3f.create_component(n))
actuator_name = m3t.get_joint_actuator_component_name(n)
actuator_ec_name = m3t.get_actuator_ec_component_name(
actuator_name)
self.actuator.append(m3f.create_component(actuator_name))
self.actuator_ec.append(m3f.create_component(actuator_ec_name))
self.proxy.subscribe_status(self.joint[-1])
self.proxy.publish_param(self.joint[-1])
self.proxy.subscribe_status(self.actuator[-1])
self.proxy.publish_param(self.actuator[-1])
if self.actuator_ec[0] is not None:
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
#kine_names=self.proxy.get_available_components('m3dynamatics')
self.kine = []
#if len(kine_names)>0:
#print 'Select dynamatics controller'
#kine_names=m3t.user_select_components_interactive(kine_names)
#for n in kine_names:
#self.kine.append(m3f.create_component(n))
#self.proxy.subscribe_status(self.kine[-1])
bot_name = m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot = m3f.create_component(bot_name)
if self.rviz:
self.viz = m3v.M3Viz(self.proxy, self.bot)
#self.proxy.publish_param(self.bot) #allow to set payload
#self.proxy.subscribe_status(self.bot)
#self.proxy.publish_command(self.bot)
#self.proxy.make_operational_all()
self.bot.initialize(self.proxy)
#self.chain_names = self.bot.get_available_chains()
#Create gui
self.mode = [0]
self.posture = [0]
self.theta_desire_a = [0] * self.bot.get_num_dof(self.limb)
self.theta_desire_b = [0] * self.bot.get_num_dof(self.limb)
self.stiffness = [50.0] * self.bot.get_num_dof(self.limb)
self.thetadot = [10.0] * self.bot.get_num_dof(self.limb)
#print 'Selected: ',self.chain_names[0],self.limb,self.bot.get_num_dof(self.limb)
#self.slew=[0]
self.save = False
self.save_last = False
self.status_dict = self.proxy.get_status_dict()
self.param_dict = self.proxy.get_param_dict()
self.gui.add('M3GuiModes', 'Mode', (self, 'mode'), range(1), [[
'Off', 'Pwm', 'Torque', 'Theta', 'Torque_GC', 'Theta_GC',
'Theta_MJ', 'Theta_GC_MJ'
], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=1)
self.gui.add('M3GuiTree',
'Param', (self, 'param_dict'), [], [],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'ThetaA (Deg)', (self, 'theta_desire_a'),
range(len(self.theta_desire_a)), [-45, 140],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiModes',
'Posture', (self, 'posture'),
range(1), [['A', 'B', 'Cycle'], 1],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'ThetaB (Deg)', (self, 'theta_desire_b'),
range(len(self.theta_desire_b)), [-45, 140],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'Stiffness ', (self, 'stiffness'),
range(len(self.stiffness)), [0, 100],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiToggle',
'Save', (self, 'save'), [], [['On', 'Off']],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiSliders',
'ThetaDot ', (self, 'thetadot'),
range(len(self.thetadot)), [0, 100],
m3g.M3GuiWrite,
column=3)
#self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),range(len(self.sea_joint)),[0,100],m3g.M3GuiWrite,column=3)
self.gui.start(self.step)
def start(self):
self.proxy.start()
#print 'Enable RVIZ [n]?'
self.rviz = False
#if m3t.get_yes_no('n'):
# self.rviz = True
chain_names=self.proxy.get_chain_components()
self.chain=[]
if len(chain_names)>0:
print 'Select kinematic chain'
self.chain_names=m3t.user_select_components_interactive(chain_names,single=True)
self.chain.append(m3f.create_component(self.chain_names[0]))
self.proxy.subscribe_status(self.chain[-1])
self.limb=m3t.get_chain_limb_name(self.chain_names[0])
joint_names=m3t.get_chain_joint_names(self.chain_names[0])
print 'Select joint'
joint_names=m3t.user_select_components_interactive(joint_names,single=True)
self.joint=[]
self.actuator=[]
self.actuator_ec=[]
acutator_names=[]
for n in joint_names:
self.joint.append(m3f.create_component(n))
actuator_name = m3t.get_joint_actuator_component_name(n)
actuator_ec_name = m3t.get_actuator_ec_component_name(actuator_name)
self.actuator.append(m3f.create_component(actuator_name))
self.actuator_ec.append(m3f.create_component(actuator_ec_name))
self.proxy.subscribe_status(self.joint[-1])
self.proxy.publish_param(self.joint[-1])
self.proxy.subscribe_status(self.actuator[-1])
self.proxy.publish_param(self.actuator[-1])
if self.actuator_ec[0] is not None:
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
#kine_names=self.proxy.get_available_components('m3dynamatics')
self.kine = []
#if len(kine_names)>0:
#print 'Select dynamatics controller'
#kine_names=m3t.user_select_components_interactive(kine_names)
#for n in kine_names:
#self.kine.append(m3f.create_component(n))
#self.proxy.subscribe_status(self.kine[-1])
bot_name=m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot=m3f.create_component(bot_name)
if self.rviz:
self.viz = m3v.M3Viz(self.proxy, self.bot)
#self.proxy.publish_param(self.bot) #allow to set payload
#self.proxy.subscribe_status(self.bot)
#self.proxy.publish_command(self.bot)
#self.proxy.make_operational_all()
self.bot.initialize(self.proxy)
#self.chain_names = self.bot.get_available_chains()
#Create gui
self.mode=[0]
self.posture=[0]
self.theta_desire_a=[0]*self.bot.get_num_dof(self.limb)
self.theta_desire_b=[0]*self.bot.get_num_dof(self.limb)
self.stiffness=[50.0]*self.bot.get_num_dof(self.limb)
self.thetadot=[10.0]*self.bot.get_num_dof(self.limb)
#print 'Selected: ',self.chain_names[0],self.limb,self.bot.get_num_dof(self.limb)
#self.slew=[0]
self.save=False
self.save_last=False
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(1),[['Off','Pwm','Torque','Theta','Torque_GC','Theta_GC','Theta_MJ', 'Theta_GC_MJ'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=1)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','ThetaA (Deg)', (self,'theta_desire_a'),range(len(self.theta_desire_a)),[-45,140],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiModes', 'Posture', (self,'posture'),range(1),[['A','B','Cycle'],1],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','ThetaB (Deg)', (self,'theta_desire_b'),range(len(self.theta_desire_b)),[-45,140],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),range(len(self.stiffness)),[0,100],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiSliders','ThetaDot ', (self,'thetadot'),range(len(self.thetadot)),[0,100],m3g.M3GuiWrite,column=3)
#self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),range(len(self.sea_joint)),[0,100],m3g.M3GuiWrite,column=3)
self.gui.start(self.step)
def start(self):
self.proxy.start()
joint_names=self.proxy.get_joint_components()
if len(joint_names)==0:
print 'No joint components available'
self.proxy.stop()
exit()
joint_names=m3t.user_select_components_interactive(joint_names)
actuator_ec_names=[]
actuator_names=[]
ctrl_names=[]
for n in joint_names:
ctrl = m3t.get_joint_ctrl_component_name(n)
if ctrl != "":
ctrl_names.append(ctrl)
actuator = m3t.get_joint_actuator_component_name(n)
if actuator != "":
actuator_names.append(actuator)
actuator_ec = m3t.get_actuator_ec_component_name(actuator)
if actuator_ec != "":
actuator_ec_names.append(actuator_ec)
self.joint=[]
self.actuator_ec=[]
self.actuator=[]
self.ctrl=[]
for n in actuator_ec_names:
c=m3f.create_component(n)
if c is not None:
try:
self.actuator_ec.append(c)
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
except:
print 'Component',n,'not available'
for n in actuator_names:
c=m3f.create_component(n)
if c is not None:
self.actuator.append(c)
self.proxy.subscribe_status(self.actuator[-1])
self.proxy.publish_param(self.actuator[-1])
for n in ctrl_names:
c=m3f.create_component(n)
if c is not None:
self.ctrl.append(c)
self.proxy.subscribe_status(self.ctrl[-1])
self.proxy.publish_param(self.ctrl[-1])
for n in joint_names:
c=m3f.create_component(n)
if c is not None:
self.joint.append(c)
self.proxy.subscribe_status(self.joint[-1])
self.proxy.publish_command(self.joint[-1])
self.proxy.publish_param(self.joint[-1])
#Enable motor power
pwr_rt=m3t.get_actuator_ec_pwr_component_name(actuator_ec_names[0])
self.pwr=m3f.create_component(pwr_rt)
if self.pwr is not None:
self.proxy.publish_command(self.pwr)
self.pwr.set_motor_power_on()
#Start them all up
self.proxy.make_operational_all()
#Force safe-op of robot, etc are present
types=['m3humanoid','m3hand','m3gripper']
for t in types:
cc=self.proxy.get_available_components(t)
for ccc in cc:
self.proxy.make_safe_operational(ccc)
#Force safe-op of chain so that gravity terms are computed
self.chain=None
if len(joint_names)>0:
for j in joint_names:
chain_name=m3t.get_joint_chain_name(j)
if chain_name!="":
self.proxy.make_safe_operational(chain_name)
#self.chain=m3f.create_component(chain_name)
#self.proxy.publish_param(self.chain) #allow to set payload
#Force safe-op of chain so that gravity terms are computed
dynamatics_name = m3t.get_chain_dynamatics_component_name(chain_name)
if dynamatics_name != "":
self.proxy.make_safe_operational(dynamatics_name)
self.dyn=m3f.create_component(dynamatics_name)
self.proxy.publish_param(self.dyn) #allow to set payload
#Force safe-op of robot so that gravity terms are computed
robot_name = m3t.get_robot_name()
if robot_name != "":
try:
self.proxy.make_safe_operational(robot_name)
self.robot=m3f.create_component(robot_name)
self.proxy.subscribe_status(self.robot)
self.proxy.publish_param(self.robot) #allow to set payload
except:
print 'Component',robot_name,'not available'
tmax=max([x.param.max_tq for x in self.actuator])
tmin=min([x.param.min_tq for x in self.actuator])
qmax=max([x.param.max_q for x in self.joint])
qmin=min([x.param.min_q for x in self.joint])
## Plots
self.scope_torque=[]
self.scope_theta=[]
self.scope_thetadot=[]
self.scope_thetadotdot=[]
self.scope_torquedot=[]
for i,name in zip(xrange(len(joint_names)),joint_names):
self.scope_torque.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='Torque') )
self.scope_theta.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='Theta') )
self.scope_thetadot.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='ThetaDot') )
self.scope_thetadotdot.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='ThetaDotDot'))
self.scope_torquedot.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='TorqueDot') )
#Create gui
self.mode=[0]*len(self.joint)
self.tq_desire_a=[0]*len(self.joint)
self.tq_desire_b=[0]*len(self.joint)
self.pwm_desire=[0]*len(self.joint)
self.theta_desire_a=[0]*len(self.joint)
self.theta_desire_b=[0]*len(self.joint)
self.thetadot_desire=[0]*len(self.joint)
self.stiffness=[0]*len(self.joint)
self.slew=[0]*len(self.joint)
self.step_period=[2000.0]*len(self.joint)
self.cycle_theta=False
self.cycle_last_theta=False
self.cycle_thetadot=False
self.cycle_last_thetadot=False
self.cycle_torque=False
self.cycle_last_torque=False
self.save=False
self.do_scope_torque=False
self.do_scope_torquedot=False
self.do_scope_theta=False
self.do_scope_thetadot=False
self.do_scope_thetadotdot=False
self.brake=False
self.save_last=False
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=2)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(len(self.joint)),[['Off','Pwm','Torque','Theta','Torque_GC','Theta_GC','Theta_MJ', 'Theta_GC_MJ','Pose','Torque_GRAV_MODEL','ThetaDot_GC','ThetaDot'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','TorqueA (mNm)', (self,'tq_desire_a'),range(len(self.joint)),[tmin,tmax],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','TorqueB (mNm)', (self,'tq_desire_b'),range(len(self.joint)),[tmin,tmax],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Pwm', (self,'pwm_desire'),range(len(self.joint)),[-3200,3200],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Theta A(Deg)', (self,'theta_desire_a'),range(len(self.joint)),[qmin,qmax],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Theta B(Deg)', (self,'theta_desire_b'),range(len(self.joint)),[qmin,qmax],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Thetadot (Deg)', (self,'thetadot_desire'),range(len(self.joint)),[-120.0,120.0],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),range(len(self.joint)),[0,100],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiSliders','Slew ', (self,'slew'),range(len(self.joint)),[0,100],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTorque', (self,'do_scope_torque'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTorqueDot', (self,'do_scope_torquedot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTheta', (self,'do_scope_theta'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeThetaDot', (self,'do_scope_thetadot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeThetaDotDot', (self,'do_scope_thetadotdot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','StepPeriod (ms) ', (self,'step_period'),range(len(self.joint)),[0,8000],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleTheta', (self,'cycle_theta'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleThetaDot', (self,'cycle_thetadot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleTorque', (self,'cycle_torque'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Brake', (self,'brake'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.start(self.step)
def start(self):
self.proxy.start()
joint_names = self.proxy.get_joint_components()
if len(joint_names) == 0:
print 'No joint components available'
self.proxy.stop()
exit()
joint_names = m3t.user_select_components_interactive(joint_names)
actuator_ec_names = []
actuator_names = []
ctrl_names = []
for n in joint_names:
ctrl = m3t.get_joint_ctrl_component_name(n)
if ctrl != "":
ctrl_names.append(ctrl)
actuator = m3t.get_joint_actuator_component_name(n)
if actuator != "":
actuator_names.append(actuator)
actuator_ec = m3t.get_actuator_ec_component_name(actuator)
if actuator_ec != "":
actuator_ec_names.append(actuator_ec)
self.joint = []
self.actuator_ec = []
self.actuator = []
self.ctrl = []
for n in actuator_ec_names:
c = m3f.create_component(n)
if c is not None:
try:
self.actuator_ec.append(c)
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
except:
print 'Component', n, 'not available'
for n in actuator_names:
c = m3f.create_component(n)
if c is not None:
self.actuator.append(c)
self.proxy.subscribe_status(self.actuator[-1])
self.proxy.publish_param(self.actuator[-1])
for n in ctrl_names:
c = m3f.create_component(n)
if c is not None:
self.ctrl.append(c)
self.proxy.subscribe_status(self.ctrl[-1])
self.proxy.publish_param(self.ctrl[-1])
for n in joint_names:
c = m3f.create_component(n)
if c is not None:
self.joint.append(c)
self.proxy.subscribe_status(self.joint[-1])
self.proxy.publish_command(self.joint[-1])
self.proxy.publish_param(self.joint[-1])
#Enable motor power
pwr_rt = m3t.get_actuator_ec_pwr_component_name(actuator_ec_names[0])
self.pwr = m3f.create_component(pwr_rt)
if self.pwr is not None:
self.proxy.publish_command(self.pwr)
self.pwr.set_motor_power_on()
#Start them all up
self.proxy.make_operational_all()
#Force safe-op of robot, etc are present
types = ['m3humanoid', 'm3hand', 'm3gripper']
for t in types:
cc = self.proxy.get_available_components(t)
for ccc in cc:
self.proxy.make_safe_operational(ccc)
#Force safe-op of chain so that gravity terms are computed
self.chain = None
if len(joint_names) > 0:
for j in joint_names:
chain_name = m3t.get_joint_chain_name(j)
if chain_name != "":
self.proxy.make_safe_operational(chain_name)
#self.chain=m3f.create_component(chain_name)
#self.proxy.publish_param(self.chain) #allow to set payload
#Force safe-op of chain so that gravity terms are computed
dynamatics_name = m3t.get_chain_dynamatics_component_name(
chain_name)
if dynamatics_name != "":
self.proxy.make_safe_operational(dynamatics_name)
self.dyn = m3f.create_component(dynamatics_name)
self.proxy.publish_param(
self.dyn) #allow to set payload
#Force safe-op of robot so that gravity terms are computed
robot_name = m3t.get_robot_name()
if robot_name != "":
try:
self.proxy.make_safe_operational(robot_name)
self.robot = m3f.create_component(robot_name)
self.proxy.subscribe_status(self.robot)
self.proxy.publish_param(self.robot) #allow to set payload
except:
print 'Component', robot_name, 'not available'
tmax = max([x.param.max_tq for x in self.actuator])
tmin = min([x.param.min_tq for x in self.actuator])
qmax = max([x.param.max_q for x in self.joint])
qmin = min([x.param.min_q for x in self.joint])
## Plots
self.scope_torque = []
self.scope_theta = []
self.scope_thetadot = []
self.scope_thetadotdot = []
self.scope_torquedot = []
for i, name in zip(xrange(len(joint_names)), joint_names):
self.scope_torque.append(
m3t.M3ScopeN(xwidth=100, yrange=None, title='Torque'))
self.scope_theta.append(
m3t.M3ScopeN(xwidth=100, yrange=None, title='Theta'))
self.scope_thetadot.append(
m3t.M3ScopeN(xwidth=100, yrange=None, title='ThetaDot'))
self.scope_thetadotdot.append(
m3t.M3ScopeN(xwidth=100, yrange=None, title='ThetaDotDot'))
self.scope_torquedot.append(
m3t.M3ScopeN(xwidth=100, yrange=None, title='TorqueDot'))
#Create gui
self.mode = [0] * len(self.joint)
self.tq_desire_a = [0] * len(self.joint)
self.tq_desire_b = [0] * len(self.joint)
self.pwm_desire = [0] * len(self.joint)
self.theta_desire_a = [0] * len(self.joint)
self.theta_desire_b = [0] * len(self.joint)
self.thetadot_desire = [0] * len(self.joint)
self.stiffness = [0] * len(self.joint)
self.slew = [0] * len(self.joint)
self.step_period = [2000.0] * len(self.joint)
self.cycle_theta = False
self.cycle_last_theta = False
self.cycle_thetadot = False
self.cycle_last_thetadot = False
self.cycle_torque = False
self.cycle_last_torque = False
self.save = False
self.do_scope_torque = False
self.do_scope_torquedot = False
self.do_scope_theta = False
self.do_scope_thetadot = False
self.do_scope_thetadotdot = False
self.brake = False
self.save_last = False
self.status_dict = self.proxy.get_status_dict()
self.param_dict = self.proxy.get_param_dict()
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=2)
self.gui.add('M3GuiTree',
'Param', (self, 'param_dict'), [], [],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiModes', 'Mode', (self, 'mode'),
range(len(self.joint)), [[
'Off', 'Pwm', 'Torque', 'Theta', 'Torque_GC',
'Theta_GC', 'Theta_MJ', 'Theta_GC_MJ', 'Pose',
'Torque_GRAV_MODEL', 'ThetaDot_GC', 'ThetaDot'
], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'TorqueA (mNm)', (self, 'tq_desire_a'),
range(len(self.joint)), [tmin, tmax], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'TorqueB (mNm)', (self, 'tq_desire_b'),
range(len(self.joint)), [tmin, tmax], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'Pwm', (self, 'pwm_desire'),
range(len(self.joint)), [-3200, 3200], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders',
'Theta A(Deg)', (self, 'theta_desire_a'),
range(len(self.joint)), [qmin, qmax],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'Theta B(Deg)', (self, 'theta_desire_b'),
range(len(self.joint)), [qmin, qmax],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'Thetadot (Deg)', (self, 'thetadot_desire'),
range(len(self.joint)), [-120.0, 120.0],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'Stiffness ', (self, 'stiffness'),
range(len(self.joint)), [0, 100],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiSliders',
'Slew ', (self, 'slew'),
range(len(self.joint)), [0, 100],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiToggle', 'Save', (self, 'save'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTorque', (self, 'do_scope_torque'),
[], [['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTorqueDot',
(self, 'do_scope_torquedot'), [], [['On', 'Off']],
m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTheta', (self, 'do_scope_theta'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeThetaDot',
(self, 'do_scope_thetadot'), [], [['On', 'Off']],
m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeThetaDotDot',
(self, 'do_scope_thetadotdot'), [], [['On', 'Off']],
m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'StepPeriod (ms) ', (self, 'step_period'),
range(len(self.joint)), [0, 8000], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleTheta', (self, 'cycle_theta'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleThetaDot', (self, 'cycle_thetadot'),
[], [['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleTorque', (self, 'cycle_torque'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Brake', (self, 'brake'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.start(self.step)
def start(self):
self.proxy.start()
self.omni = m3o.MekaOmnibaseControl('meka_omnibase_control_mb2', 'meka_omnibase_control')
self.proxy.subscribe_status(self.omni)
self.proxy.publish_param(self.omni)
self.proxy.publish_command(self.omni)
joint_names=self.proxy.get_joint_components()
if len(joint_names)==0:
print 'No joint components available'
self.proxy.stop()
exit()
joint_names= ['m3joint_mb2_j0',
'm3joint_mb2_j1',
'm3joint_mb2_j2',
'm3joint_mb2_j3',
'm3joint_mb2_j4',
'm3joint_mb2_j5',
'm3joint_mb2_j6',
'm3joint_mb2_j7']
actuator_ec_names=[]
actuator_names=[]
ctrl_names=[]
for n in joint_names:
ctrl = m3t.get_joint_ctrl_component_name(n)
if ctrl != "":
ctrl_names.append(ctrl)
actuator = m3t.get_joint_actuator_component_name(n)
if actuator != "":
actuator_names.append(actuator)
actuator_ec = m3t.get_actuator_ec_component_name(actuator)
if actuator_ec != "":
actuator_ec_names.append(actuator_ec)
self.joint=[]
self.actuator_ec=[]
self.actuator=[]
self.ctrl=[]
for n in actuator_ec_names:
c=m3f.create_component(n)
if c is not None:
try:
self.actuator_ec.append(c)
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
except:
print 'Component',n,'not available'
for n in actuator_names:
c=m3f.create_component(n)
if c is not None:
self.actuator.append(c)
self.proxy.subscribe_status(self.actuator[-1])
self.proxy.publish_param(self.actuator[-1])
for n in ctrl_names:
c=m3f.create_component(n)
if c is not None:
self.ctrl.append(c)
self.proxy.subscribe_status(self.ctrl[-1])
self.proxy.publish_param(self.ctrl[-1])
for n in joint_names:
c=m3f.create_component(n)
if c is not None:
self.joint.append(c)
self.proxy.subscribe_status(self.joint[-1])
self.proxy.publish_command(self.joint[-1])
self.proxy.publish_param(self.joint[-1])
#Enable motor power
pwr_names = self.proxy.get_available_components('m3pwr')
self.pwr = [0]*len(pwr_names)
for i in range(0,len(pwr_names)):
print i, pwr_names[i]
pwr_rt = pwr_names[i]
self.pwr[i]=m3f.create_component(pwr_rt)
if self.pwr[i] is not None:
self.proxy.publish_command(self.pwr[i])
self.pwr[i].set_motor_power_on()
#Start them all up
self.proxy.make_operational_all()
#Force safe-op of robot, etc are present
types=['m3humanoid','m3hand','m3gripper']
for t in types:
cc=self.proxy.get_available_components(t)
for ccc in cc:
self.proxy.make_safe_operational(ccc)
#Force safe-op of chain so that gravity terms are computed
self.chain=None
if len(joint_names)>0:
for j in joint_names:
chain_name=m3t.get_joint_chain_name(j)
if chain_name!="":
self.proxy.make_safe_operational(chain_name)
#self.chain=m3f.create_component(chain_name)
#self.proxy.publish_param(self.chain) #allow to set payload
#Force safe-op of chain so that gravity terms are computed
dynamatics_name = m3t.get_chain_dynamatics_component_name(chain_name)
if dynamatics_name != "":
self.proxy.make_safe_operational(dynamatics_name)
self.dyn=m3f.create_component(dynamatics_name)
self.proxy.publish_param(self.dyn) #allow to set payload
#Force safe-op of robot so that gravity terms are computed
robot_name = m3t.get_robot_name()
if robot_name != "":
try:
self.proxy.make_safe_operational(robot_name)
self.robot=m3f.create_component(robot_name)
self.proxy.subscribe_status(self.robot)
self.proxy.publish_param(self.robot) #allow to set payload
except:
print 'Component',robot_name,'not available'
## Plots
self.scope_torque=[]
self.scope_theta=[]
self.scope_thetadot=[]
self.scope_thetadotdot=[]
self.scope_torquedot=[]
for i,name in zip(xrange(len(joint_names)),joint_names):
self.scope_torque.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='Torque') )
self.scope_theta.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='Theta') )
self.scope_thetadot.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='ThetaDot') )
self.scope_thetadotdot.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='ThetaDotDot'))
self.scope_torquedot.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='TorqueDot') )
#Create gui
# Velocity limits (in rad/s)
vmin = -6.0
vmax = 6.0
try:
self.mode = [0]
self.betad_ = [0.0]*4
self.phid_ = [0.0]*4
self.xd_ = [0.0]
self.yd_ = [0.0]
self.td_ = [0.0]
self.tqr_ = [0.0]*4
self.do_scope_torque=False
self.do_scope_torquedot=False
self.do_scope_theta=False
self.do_scope_thetadot=False
self.do_scope_thetadotdot=False
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=2)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'Mode',
(self,'mode'),[0],[['Off','CC', 'Normal'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Beta dot',
(self,'betad_'),range(0,4),[vmin,vmax]*4,m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Phi dot',
(self,'phid_'),range(0,4),[vmin,vmax]*4,m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Caster Ratio',
(self,'tqr_'),range(0,4),[0.0,1.0]*4,m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','xdot',
(self,'xd_'),[0],[-0.3,0.3],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','ydot',
(self,'yd_'),[0],[-0.3,0.3],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','tdot',
(self,'td_'),[0],[-1.0,1.0],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTorque', (self,'do_scope_torque'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTorqueDot', (self,'do_scope_torquedot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTheta', (self,'do_scope_theta'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeThetaDot', (self,'do_scope_thetadot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeThetaDotDot', (self,'do_scope_thetadotdot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.start(self.step)
except Exception,e:
print "ERROR: Could not properly create GUI:", e
return
