def __init__(self, view, robot):
self.view = view
# Default values
self.gait_directory = None
self.playback_speed = 100
self.time_slider_thread = None
self.current_time = 0
self.robot = robot
empty_subgait_file = os.path.join(
rospkg.RosPack().get_path('march_rqt_gait_generator'),
'resource/empty_gait/empty_subgait/empty_subgait.subgait')
self.subgait = ModifiableSubgait.from_file(robot, empty_subgait_file,
self)
self.settings_changed_history = RingBuffer(capacity=100, dtype=list)
self.settings_changed_redo_list = RingBuffer(capacity=100, dtype=list)
standing = Subgait.from_file(robot, empty_subgait_file)
previous_subgait_controller = SideSubgaitController(
view=self.view.side_subgait_view['previous'], default=standing)
next_subgait_controller = SideSubgaitController(
view=self.view.side_subgait_view['next'], default=standing)
self.side_subgait_controller = {
'previous': previous_subgait_controller,
'next': next_subgait_controller
}
self.connect_buttons()
self.view.load_gait_into_ui(self.subgait)
for joint in self.subgait.joints:
self.connect_plot(joint)
def load_interpolatable_subgaits(self,
subgait_name='left_close',
base_version='MV_walk_leftclose_v1',
other_version='MV_walk_leftclose_v2'):
base_subgait_path = '{rsc}/{gait}/{subgait}/{version}.subgait'.format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait=subgait_name,
version=base_version)
base_subgait = Subgait.from_file(self.robot, base_subgait_path)
other_subgait_path = '{rsc}/{gait}/{subgait}/{version}.subgait'.format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait=subgait_name,
version=other_version)
other_subgait = Subgait.from_file(self.robot, other_subgait_path)
return base_subgait, other_subgait
def test_invalid_subgait_transition_unequal_joints(self):
other_subgait_name = 'right_close'
other_version = 'MV_walk_rightclose_v2_seven_joints'
other_subgait_path = '{rsc}/{gait}/{subgait}/{version}.subgait'.format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait=other_subgait_name,
version=other_version)
other_subgait = Subgait.from_file(self.robot, other_subgait_path)
with self.assertRaises(NonValidGaitContent):
other_subgait.validate_subgait_transition(self.subgait)
def test_invalid_subgait_transition(self):
other_subgait_name = 'right_close'
other_version = 'MV_walk_rightclose_v2'
other_subgait_path = '{rsc}/{gait}/{subgait}/{version}.subgait'.format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait=other_subgait_name,
version=other_version)
other_subgait = Subgait.from_file(self.robot, other_subgait_path)
self.assertFalse(
other_subgait.validate_subgait_transition(self.subgait))
def load_interpolatable_subgaits_ik(
self,
subgait_name="swing",
base_version="forward_swing",
other_version="backward_swing",
):
base_subgait_path = "{rsc}/{gait}/{subgait}/{version}.subgait".format(
rsc=self.resources_folder,
gait=self.gait_name_ik,
subgait=subgait_name,
version=base_version,
)
base_subgait = Subgait.from_file(self.robot, base_subgait_path)
other_subgait_path = "{rsc}/{gait}/{subgait}/{version}.subgait".format(
rsc=self.resources_folder,
gait=self.gait_name_ik,
subgait=subgait_name,
version=other_version,
)
other_subgait = Subgait.from_file(self.robot, other_subgait_path)
return base_subgait, other_subgait
def load_interpolatable_subgaits(
self,
subgait_name="left_close",
base_version="MV_walk_leftclose_v1",
other_version="MV_walk_leftclose_v2",
):
base_subgait_path = "{rsc}/{gait}/{subgait}/{version}.subgait".format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait=subgait_name,
version=base_version,
)
base_subgait = Subgait.from_file(self.robot, base_subgait_path)
other_subgait_path = "{rsc}/{gait}/{subgait}/{version}.subgait".format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait=subgait_name,
version=other_version,
)
other_subgait = Subgait.from_file(self.robot, other_subgait_path)
return base_subgait, other_subgait
def test_valid_subgait_transition(self):
other_subgait_name = "right_close"
other_version = "MV_walk_rightclose_v2"
other_subgait_path = "{rsc}/{gait}/{subgait}/{version}.subgait".format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait=other_subgait_name,
version=other_version,
)
other_subgait = Subgait.from_file(self.robot, other_subgait_path)
self.assertTrue(
self.subgait.validate_subgait_transition(other_subgait))
def setUp(self):
self.gait_name = 'walk'
self.subgait_name = 'left_swing'
self.version = 'MV_walk_leftswing_v2'
self.resources_folder = rospkg.RosPack().get_path(
'march_shared_classes') + '/test/resources'
self.robot = urdf.Robot.from_xml_file(
rospkg.RosPack().get_path('march_description') +
'/urdf/march4.urdf')
self.subgait_path = '{rsc}/{gait}/{subgait}/{version}.subgait'.format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait=self.subgait_name,
version=self.version)
self.subgait = Subgait.from_file(self.robot, self.subgait_path)
def load_subgait(robot, gait_directory, gait_name, subgait_name,
gait_version_map):
"""Read the .subgait file and extract the data.
:returns
if gait and subgait names are valid return populated Gait object
"""
if not gait_version_map.get(gait_name):
raise GaitNameNotFound(gait_name)
if not gait_version_map[gait_name].get(subgait_name):
raise SubgaitNameNotFound(subgait_name)
version = gait_version_map[gait_name][subgait_name]
subgait_path = os.path.join(gait_directory, gait_name, subgait_name,
version + '.subgait')
if not os.path.isfile(subgait_path):
raise FileNotFoundError(file_path=subgait_path)
return Subgait.from_file(robot, subgait_path)
def setUp(self):
self.gait_name = "walk"
self.gait_name_ik = "ik_test"
self.subgait_name = "left_swing"
self.base_subgait_name = "swing"
self.other_subgait_name = "swing"
self.version = "MV_walk_leftswing_v2"
self.base_version = "forward_swing"
self.other_version = "backward_swing"
self.resources_folder = (
rospkg.RosPack().get_path("march_shared_classes") +
"/test/resources")
self.robot = urdf.Robot.from_xml_file(
rospkg.RosPack().get_path("march_description") +
"/urdf/march4.urdf")
self.subgait_path = "{rsc}/{gait}/{subgait}/{version}.subgait".format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait=self.subgait_name,
version=self.version,
)
self.subgait = Subgait.from_file(self.robot, self.subgait_path)
def test_from_file_no_robot(self):
self.assertIsNone(Subgait.from_file(None, self.subgait_path))
def test_from_file_none_path(self):
with self.assertRaises(FileNotFoundError):
Subgait.from_file(self.robot, None)
def test_from_file_invalid_path(self):
with self.assertRaises(FileNotFoundError):
Subgait.from_file(
self.robot,
self.resources_folder + '/MV_walk_leftswing_v2.subgait')