diff --git a/scenarios/ArMemObjectMemory/config/ArVizStorage.cfg b/scenarios/ArMemObjectMemory/config/ArVizStorage.cfg
index 0dcbd8d5775b8c0f562bba62b5f2fe282e2da6d0..302ac28c37dd28de3e68fb4fe4c2174faa4ec3bf 100644
--- a/scenarios/ArMemObjectMemory/config/ArVizStorage.cfg
+++ b/scenarios/ArMemObjectMemory/config/ArVizStorage.cfg
@@ -27,7 +27,7 @@
# ArmarX.ArVizStorage.EnableProfiling = false
-# ArmarX.ArVizStorage.HistoryPath: Destination path where the history are serialized to
+# ArmarX.ArVizStorage.HistoryPath: Destination path where the history is serialized to
# Attributes:
# - Default: RobotAPI/ArVizStorage
# - Case sensitivity: yes
@@ -68,7 +68,7 @@
# ArmarX.ArVizStorage.TopicName = ArVizTopic
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg b/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg
index 9d225df2f4efadbb731a79fd45dbf852189ec80b..ce2498f12be6b0ce2cd02bfab3ebdc4140a797ca 100644
--- a/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg
+++ b/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg
@@ -60,12 +60,19 @@
# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.MemoryName = Object
-# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.ProviderName:
+# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.read.ProviderName:
# Attributes:
# - Default: PriorKnowledgeData
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.ProviderName = PriorKnowledgeData
+# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.read.ProviderName = PriorKnowledgeData
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.write.ProviderName: Name of this provider
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.write.ProviderName = sim_track
# ArmarX.ArticulatedObjectLocalizerExample.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
@@ -94,14 +101,6 @@
# ArmarX.ArticulatedObjectLocalizerExample.tpc.pub.DebugObserver = DebugObserver
-# ArmarX.ArticulatedObjectLocalizerExample.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
-# Attributes:
-# - Default: MemoryUpdates
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ArticulatedObjectLocalizerExample.tpc.sub.MemoryListener = MemoryUpdates
-
-
# ArmarX.ArticulatedObjectLocalizerExample.updateFrequency: Memory update frequency (write).
# Attributes:
# - Default: 25
@@ -110,7 +109,7 @@
# ArmarX.ArticulatedObjectLocalizerExample.updateFrequency = 25
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemObjectMemory/config/DebugObserver.cfg b/scenarios/ArMemObjectMemory/config/DebugObserver.cfg
index 4a0b9dac036cd4d103efd7d1b718d508f285d85a..8dc7ead26b3bd2f7678b3b3e7a1b00c01213225d 100644
--- a/scenarios/ArMemObjectMemory/config/DebugObserver.cfg
+++ b/scenarios/ArMemObjectMemory/config/DebugObserver.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemObjectMemory/config/MemoryNameSystem.cfg b/scenarios/ArMemObjectMemory/config/MemoryNameSystem.cfg
index 7dd22218243ca4f9e67e843da8b42916f3b8568a..b8bc70a66ca7f32a628886ad1bf13e373f9750d3 100644
--- a/scenarios/ArMemObjectMemory/config/MemoryNameSystem.cfg
+++ b/scenarios/ArMemObjectMemory/config/MemoryNameSystem.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
index e67a4c41162632026046dc8402466d2deb7ee233..5e0858b92c6caa5e2aba4453dac7bacef8367318 100644
--- a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
+++ b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
@@ -92,6 +92,14 @@
# ArmarX.LoggingGroup = ""
+# ArmarX.ObjectMemory.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ArVizStorageName = ArVizStorage
+
+
# ArmarX.ObjectMemory.ArVizTopicName: Name of the ArViz topic
# Attributes:
# - Default: ArVizTopic
@@ -134,14 +142,6 @@
# ArmarX.ObjectMemory.RemoteGuiName = RemoteGuiProvider
-# ArmarX.ObjectMemory.RemoteStateComponentName: Name of the robot state component
-# Attributes:
-# - Default: RobotStateComponent
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.RemoteStateComponentName = RobotStateComponent
-
-
# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName: Name of the kinematic unit observer.
# Attributes:
# - Default: KinematicUnitObserver
@@ -150,55 +150,6 @@
# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName = KinematicUnitObserver
-# ArmarX.ObjectMemory.ltm.00_enabled:
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.ltm.00_enabled = true
-
-
-# ArmarX.ObjectMemory.ltm.10_host:
-# Attributes:
-# - Default: localhost
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.ltm.10_host = localhost
-
-
-# ArmarX.ObjectMemory.ltm.11_port:
-# Attributes:
-# - Default: 25270
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.ltm.11_port = 25270
-
-
-# ArmarX.ObjectMemory.ltm.20_user:
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.ltm.20_user = ""
-
-
-# ArmarX.ObjectMemory.ltm.21_password:
-# Attributes:
-# - Default: ""
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.ltm.21_password = ""
-
-
-# ArmarX.ObjectMemory.ltm.22_database:
-# Attributes:
-# - Default: Test
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.ltm.22_database = Test
-
-
# ArmarX.ObjectMemory.mem.MemoryName: Name of this memory server.
# Attributes:
# - Default: Object
@@ -207,55 +158,6 @@
# ArmarX.ObjectMemory.mem.MemoryName = Object
-# ArmarX.ObjectMemory.mem.articulated.cls.CoreSegmentName: Name of the object instance core segment.
-# Attributes:
-# - Default: ArticulatedObjectClass
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.articulated.cls.CoreSegmentName = ArticulatedObjectClass
-
-
-# ArmarX.ObjectMemory.mem.articulated.cls.LoadFromObjectsPackage: If true, load the objects from the objects package on startup.
-# Attributes:
-# - Default: true
-# - Case sensitivity: yes
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.articulated.cls.LoadFromObjectsPackage = true
-
-
-# ArmarX.ObjectMemory.mem.articulated.cls.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.articulated.cls.MaxHistorySize = -1
-
-
-# ArmarX.ObjectMemory.mem.articulated.cls.ObjectsPackage: Name of the objects package to load from.
-# Attributes:
-# - Default: PriorKnowledgeData
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.articulated.cls.ObjectsPackage = PriorKnowledgeData
-
-
-# ArmarX.ObjectMemory.mem.articulated.inst.CoreSegmentName: Name of the object instance core segment.
-# Attributes:
-# - Default: ArticulatedObjectInstance
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.articulated.inst.CoreSegmentName = ArticulatedObjectInstance
-
-
-# ArmarX.ObjectMemory.mem.articulated.inst.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
-# Attributes:
-# - Default: -1
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.articulated.inst.MaxHistorySize = -1
-
-
# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName: Name of the object instance core segment.
# Attributes:
# - Default: Attachments
@@ -272,14 +174,6 @@
# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize = -1
-# ArmarX.ObjectMemory.mem.cls.CoreSegmentName: Name of the object clazz core segment.
-# Attributes:
-# - Default: Class
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.cls.CoreSegmentName = Class
-
-
# ArmarX.ObjectMemory.mem.cls.Floor.EntityName: Object class entity of the floor.
# Attributes:
# - Default: Building/floor-20x20
@@ -323,28 +217,28 @@
# ArmarX.ObjectMemory.mem.cls.LoadFromObjectsPackage = true
-# ArmarX.ObjectMemory.mem.cls.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# ArmarX.ObjectMemory.mem.cls.ObjectsPackage: Name of the objects package to load from.
# Attributes:
-# - Default: -1
+# - Default: PriorKnowledgeData
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.cls.MaxHistorySize = -1
+# ArmarX.ObjectMemory.mem.cls.ObjectsPackage = PriorKnowledgeData
-# ArmarX.ObjectMemory.mem.cls.ObjectsPackage: Name of the objects package to load from.
+# ArmarX.ObjectMemory.mem.cls.seg.CoreMaxHistorySize: Maximal size of the Class entity histories (-1 for infinite).
# Attributes:
-# - Default: PriorKnowledgeData
+# - Default: -1
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.cls.ObjectsPackage = PriorKnowledgeData
+# ArmarX.ObjectMemory.mem.cls.seg.CoreMaxHistorySize = -1
-# ArmarX.ObjectMemory.mem.inst.CoreSegmentName: Name of the object instance core segment.
+# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName: Name of the Class core segment.
# Attributes:
-# - Default: Instance
+# - Default: Class
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.inst.CoreSegmentName = Instance
+# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName = Class
# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached: If true, no new snapshots are stored while an object is attached to a robot node.
@@ -357,14 +251,6 @@
# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached = true
-# ArmarX.ObjectMemory.mem.inst.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
-# Attributes:
-# - Default: 25
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.ObjectMemory.mem.inst.MaxHistorySize = 25
-
-
# ArmarX.ObjectMemory.mem.inst.calibration.offset: Offset for the node to be calibrated.
# Attributes:
# - Default: 0
@@ -472,8 +358,9 @@
# ArmarX.ObjectMemory.mem.inst.scene.11_Directory = scenes
-# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad: Scene snapshot to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
-# You can also specify paths relative to 'Package/scenes/'.
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad: Scene to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
+# You can also specify paths relative to 'Package/scenes/'.
+# You can also specify a ; separated list of scenes.
# Attributes:
# - Default: ""
# - Case sensitivity: yes
@@ -481,6 +368,22 @@
# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = ""
+# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize: Maximal size of the Instance entity histories (-1 for infinite).
+# Attributes:
+# - Default: 64
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize = 64
+
+
+# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName: Name of the Instance core segment.
+# Attributes:
+# - Default: Instance
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName = Instance
+
+
# ArmarX.ObjectMemory.mem.inst.visu.alpha: Alpha of objects (1 = solid, 0 = transparent).
# Attributes:
# - Default: 1
@@ -515,6 +418,32 @@
# ArmarX.ObjectMemory.mem.inst.visu.frequenzyHz = 25
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.position: Enable showing pose gaussians (orientation part).
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.position = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionDisplaced: Displace center orientation (co)variance circle arrows along their rotation axis.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionDisplaced = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionScale: Scaling of pose gaussians (orientation part).
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionScale = 100
+
+
# ArmarX.ObjectMemory.mem.inst.visu.inGlobalFrame: If true, show global poses. If false, show poses in robot frame.
# Attributes:
# - Default: true
@@ -550,6 +479,31 @@
# ArmarX.ObjectMemory.mem.inst.visu.oobbs = false
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.show: Show arrows linearly predicting object positions.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.show = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeOffset: The offset (in seconds) to the current time to make predictions for.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeOffset = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeWindow: The time window (in seconds) into the past to perform the regression on.
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeWindow = 2
+
+
# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels: Prefer articulated object models if available.
# Attributes:
# - Default: true
@@ -559,6 +513,158 @@
# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels = true
+# ArmarX.ObjectMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.depthImageExtractor.Enabled = true
+
+
+# ArmarX.ObjectMemory.mem.ltm.enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.enabled = false
+
+
+# ArmarX.ObjectMemory.mem.ltm.exrConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.exrConverter.Enabled = true
+
+
+# ArmarX.ObjectMemory.mem.ltm.imageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.imageExtractor.Enabled = true
+
+
+# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.Enabled = false
+
+
+# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ObjectMemory.mem.ltm.pngConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.pngConverter.Enabled = true
+
+
+# ArmarX.ObjectMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
+# Attributes:
+# - Default: 1024
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.Enabled = false
+
+
+# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
+
+
+# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.Enabled = false
+
+
+# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ObjectMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.storagepath = Default value not mapped.
+
+
+# ArmarX.ObjectMemory.mem.robot_state.Memory:
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment:
+# Attributes:
+# - Default: Description
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment = Description
+
+
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment:
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment:
+# Attributes:
+# - Default: Proprioception
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment = Proprioception
+
+
# ArmarX.ObjectMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
@@ -577,28 +683,28 @@
# ArmarX.ObjectMemory.mns.MemoryNameSystemName = MemoryNameSystem
-# ArmarX.ObjectMemory.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
+# ArmarX.ObjectMemory.prediction.TimeWindow: Duration of time window into the past to use for predictions when requested via the PredictingMemoryInterface (in seconds).
# Attributes:
-# - Default: DebugObserver
+# - Default: 2
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.tpc.pub.DebugObserver = DebugObserver
+# ArmarX.ObjectMemory.prediction.TimeWindow = 2
-# ArmarX.ObjectMemory.tpc.pub.MemoryListener: Name of the `MemoryListener` topic to publish data to.
+# ArmarX.ObjectMemory.robotName:
# Attributes:
-# - Default: MemoryUpdates
+# - Default: Armar6
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.tpc.pub.MemoryListener = MemoryUpdates
+# ArmarX.ObjectMemory.robotName = Armar6
-# ArmarX.ObjectMemory.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
+# ArmarX.ObjectMemory.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
# Attributes:
-# - Default: MemoryUpdates
+# - Default: DebugObserver
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.tpc.sub.MemoryListener = MemoryUpdates
+# ArmarX.ObjectMemory.tpc.pub.DebugObserver = DebugObserver
# ArmarX.ObjectMemory.tpc.sub.ObjectPoseTopic: Name of the `ObjectPoseTopic` topic to subscribe to.
diff --git a/scenarios/ArMemObjectMemory/config/ObjectPoseClientExample.cfg b/scenarios/ArMemObjectMemory/config/ObjectPoseClientExample.cfg
index f75bad15e903fd399e990eb38dce28887c537d98..e64f75326949fb3263f378a19067aa2b8f85c00d 100644
--- a/scenarios/ArMemObjectMemory/config/ObjectPoseClientExample.cfg
+++ b/scenarios/ArMemObjectMemory/config/ObjectPoseClientExample.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
@@ -92,6 +92,14 @@
# ArmarX.LoggingGroup = ""
+# ArmarX.ObjectPoseClientExample.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectPoseClientExample.ArVizStorageName = ArVizStorage
+
+
# ArmarX.ObjectPoseClientExample.ArVizTopicName: Name of the ArViz topic
# Attributes:
# - Default: ArVizTopic
@@ -142,6 +150,22 @@
# ArmarX.ObjectPoseClientExample.ObjectName = ""
+# ArmarX.ObjectPoseClientExample.predictions.NumberPerObject: How many predictions with increasing time offsets to make per object.
+# Attributes:
+# - Default: 5
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectPoseClientExample.predictions.NumberPerObject = 5
+
+
+# ArmarX.ObjectPoseClientExample.predictions.TimeIncrement: The size of the prediction time offset increment in milliseconds.
+# Attributes:
+# - Default: 200
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectPoseClientExample.predictions.TimeIncrement = 200
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
# - Default: true
diff --git a/scenarios/ArMemObjectMemory/config/ObjectPoseProviderExample.cfg b/scenarios/ArMemObjectMemory/config/ObjectPoseProviderExample.cfg
index 76fbf317102eb56ab01bfd0037544c69f85c6c27..5cb44d32cf1e0a1d8fea853e5b8c07603c4a0c6f 100644
--- a/scenarios/ArMemObjectMemory/config/ObjectPoseProviderExample.cfg
+++ b/scenarios/ArMemObjectMemory/config/ObjectPoseProviderExample.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemObjectMemory/config/RemoteGuiProviderApp.cfg b/scenarios/ArMemObjectMemory/config/RemoteGuiProviderApp.cfg
index 4fd690cefd94559b207493cf40e346a3e47f3b12..4b6abea40d72afd7d313ee47a9b191f3b26de30d 100644
--- a/scenarios/ArMemObjectMemory/config/RemoteGuiProviderApp.cfg
+++ b/scenarios/ArMemObjectMemory/config/RemoteGuiProviderApp.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArViz/config/ArVizStorage.cfg b/scenarios/ArViz/config/ArVizStorage.cfg
index 30b8ea5904d318cf689370e81d3d3a7c47d07a68..302ac28c37dd28de3e68fb4fe4c2174faa4ec3bf 100644
--- a/scenarios/ArViz/config/ArVizStorage.cfg
+++ b/scenarios/ArViz/config/ArVizStorage.cfg
@@ -27,7 +27,7 @@
# ArmarX.ArVizStorage.EnableProfiling = false
-# ArmarX.ArVizStorage.HistoryPath: Destination path where the history are serialized to
+# ArmarX.ArVizStorage.HistoryPath: Destination path where the history is serialized to
# Attributes:
# - Default: RobotAPI/ArVizStorage
# - Case sensitivity: yes
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.cpp b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.cpp
index 0a4d7031aad04aaf9cf42a044b1d1667b3c02ce3..2e4c5851c2417c67158785cb31226b03fff7c269 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.cpp
@@ -35,9 +35,13 @@ armarx::HandUnitConfigDialog::HandUnitConfigDialog(QWidget* parent) :
setName(getDefaultName()); // @@@ This is necessary for more than 1 widget or even reopening the widget.
- proxyFinder = new IceProxyFinder<HandUnitInterfacePrx>(this);
- proxyFinder->setSearchMask("*Unit");
- ui->proxyFinderContainer->addWidget(proxyFinder, 0, 0, 1, 1);
+ proxyFinderLeftHand = new IceProxyFinder<HandUnitInterfacePrx>(this);
+ proxyFinderLeftHand->setSearchMask("*Unit");
+ ui->proxyFinderContainerLeftHand->addWidget(proxyFinderLeftHand, 0, 0, 1, 1);
+
+ proxyFinderRightHand = new IceProxyFinder<HandUnitInterfacePrx>(this);
+ proxyFinderRightHand->setSearchMask("*Unit");
+ ui->proxyFinderContainerRightHand->addWidget(proxyFinderRightHand, 0, 0, 1, 1);
}
armarx::HandUnitConfigDialog::~HandUnitConfigDialog()
@@ -49,7 +53,8 @@ armarx::HandUnitConfigDialog::~HandUnitConfigDialog()
void armarx::HandUnitConfigDialog::onInitComponent()
{
- proxyFinder->setIceManager(getIceManager());
+ proxyFinderLeftHand->setIceManager(getIceManager());
+ proxyFinderRightHand->setIceManager(getIceManager());
}
void armarx::HandUnitConfigDialog::onConnectComponent()
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
index 1ed61c68cc05ded112d6a0515acae2008ab17602..149d8ce6101c2484d2a40e45d903d0faf45ed491 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
@@ -58,7 +58,8 @@ namespace armarx
private:
Ui::HandUnitConfigDialog* ui;
- IceProxyFinderBase* proxyFinder;
+ IceProxyFinderBase* proxyFinderLeftHand;
+ IceProxyFinderBase* proxyFinderRightHand;
std::string uuid;
friend class HandUnitWidget;
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.ui b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.ui
index 844cc1788efaa923a720bc1e08c8e00cab82de32..3197505fadbb74544a4c3e4ad14e01c521357226 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.ui
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.ui
@@ -7,48 +7,116 @@
<x>0</x>
<y>0</y>
<width>527</width>
- <height>113</height>
+ <height>179</height>
</rect>
</property>
<property name="windowTitle">
<string>Dialog</string>
</property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="3" column="0">
- <widget class="QDialogButtonBox" name="buttonBox">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <layout class="QGridLayout" name="gridLayout">
- <item row="1" column="1">
- <widget class="QLineEdit" name="editHandName">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- <property name="placeholderText">
- <string>will be retrieved from HandUnit</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="labelHandName">
- <property name="text">
- <string>Hand Name</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0" colspan="2">
- <layout class="QGridLayout" name="proxyFinderContainer"/>
- </item>
- </layout>
- </item>
- </layout>
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="geometry">
+ <rect>
+ <x>350</x>
+ <y>150</y>
+ <width>166</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ <widget class="QLabel" name="labelLeftHandName">
+ <property name="geometry">
+ <rect>
+ <x>20</x>
+ <y>50</y>
+ <width>111</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Left Hand Name</string>
+ </property>
+ </widget>
+ <widget class="QLineEdit" name="editLeftHandName">
+ <property name="geometry">
+ <rect>
+ <x>166</x>
+ <y>50</y>
+ <width>351</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ <property name="placeholderText">
+ <string>will be retrieved from HandUnit</string>
+ </property>
+ </widget>
+ <widget class="QLineEdit" name="editRightHandName">
+ <property name="geometry">
+ <rect>
+ <x>166</x>
+ <y>120</y>
+ <width>351</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ <property name="placeholderText">
+ <string>will be retrieved from HandUnit</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="labelRightHandName">
+ <property name="geometry">
+ <rect>
+ <x>20</x>
+ <y>120</y>
+ <width>121</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Right Hand Name</string>
+ </property>
+ </widget>
+ <widget class="QWidget" name="layoutWidget">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>80</y>
+ <width>511</width>
+ <height>35</height>
+ </rect>
+ </property>
+ <layout class="QGridLayout" name="gridLayoutRightHand">
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="proxyFinderContainerRightHand"/>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="">
+ <property name="geometry">
+ <rect>
+ <x>9</x>
+ <y>9</y>
+ <width>511</width>
+ <height>35</height>
+ </rect>
+ </property>
+ <layout class="QGridLayout" name="gridLayoutLeftHand">
+ <item row="0" column="0" colspan="2">
+ <layout class="QGridLayout" name="proxyFinderContainerLeftHand"/>
+ </item>
+ </layout>
+ </widget>
</widget>
<tabstops>
<tabstop>buttonBox</tabstop>
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
index 5c86b2dda49248a4148b5f3c83785272a94789f9..ea3190228596e928bc349b9fd1a063c88025cc63 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
@@ -35,6 +35,9 @@
#include <QLineEdit>
#include <QMessageBox>
#include <QTimer>
+#include <QtWidgets/QSlider>
+#include <QtWidgets/QTableWidgetItem>
+#include <QString>
#include <cmath>
@@ -46,60 +49,107 @@ namespace armarx
}
HandUnitWidget::HandUnitWidget() :
- handName("NOT SET YET"),
- handUnitProxyName(""),
- setJointAnglesFlag(false)
+ leftHandName("NOT SET YET"),
+ rightHandName("NOT SET YET"),
+ leftHandUnitProxyName(""),
+ rightHandUnitProxyName(""),
+ setLeftHandJointAnglesFlag(false),
+ setRightHandJointAnglesFlag(false)
{
// init gui
ui.setupUi(getWidget());
- jointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setJointAngles, 50);
+ setLeftHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setLeftHandJointAngles, 50);
+ setRightHandJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::setRightHandJointAngles, 50);
updateInfoTimer = new QTimer(this);
}
void HandUnitWidget::onInitComponent()
{
- usingProxy(handUnitProxyName);
+ usingProxy(leftHandUnitProxyName);
+ usingProxy(rightHandUnitProxyName);
//usingTopic(handName + "State");
//ARMARX_WARNING << "Listening on Topic: " << handName + "State";
}
void HandUnitWidget::onConnectComponent()
{
- connectSlots();
- jointAngleUpdateTask->start();
updateInfoTimer->start(50);
- handUnitProxy = getProxy<HandUnitInterfacePrx>(handUnitProxyName);
- handName = handUnitProxy->getHandName();
- // @@@ In simulation hand is called 'Hand L'/'Hand R'. On 3b Hand is called 'TCP R'
- if (handName != "Hand L" && handName != "Hand R" && handName != "TCP L" && handName != "TCP R")
+
+ setLeftHandJointAngleUpdateTask->start();
+
+ leftHandUnitProxy = getProxy<HandUnitInterfacePrx>(leftHandUnitProxyName);
+ leftHandName = leftHandUnitProxy->getHandName();
+
+ if (leftHandName == "Hand L" || leftHandName == "TCP L")
{
- //QMessageBox::warning(NULL, "Hand not supported", QString("Hand with name \"") + QString::fromStdString(handName) + " \" is not suppored.");
- ARMARX_WARNING << "Hand with name \"" << handName << "\" is not supported.";
+ leftHandConversionFactor *= M_PI / 2;
+ }
+ else if (leftHandName != "Hand_L_EEF")
+ {
+ ARMARX_WARNING << "Left hand with name \"" << leftHandName << "\" is not supported.";
}
- //ui.labelInfo->setText(QString::fromStdString(handUnitProxyName + " :: " + handName));
+ SingleTypeVariantListPtr leftHandPreshapeStrings = SingleTypeVariantListPtr::dynamicCast(leftHandUnitProxy->getShapeNames());
+ QStringList leftHandList;
+ int leftHandPreshapeCount = leftHandPreshapeStrings->getSize();
- SingleTypeVariantListPtr preshapeStrings = SingleTypeVariantListPtr::dynamicCast(handUnitProxy->getShapeNames());
- QStringList list;
- int preshapeCount = preshapeStrings->getSize();
+ for (int i = 0; i < leftHandPreshapeCount; ++i)
+ {
+ std::string shape = ((leftHandPreshapeStrings->getVariant(i))->get<std::string>());
+// ARMARX_INFO << VAROUT(shape);
+ leftHandList << QString::fromStdString(shape);
+ }
- for (int i = 0; i < preshapeCount; ++i)
+ ui.comboLeftHandPreshapes->clear();
+ ui.comboLeftHandPreshapes->addItems(leftHandList);
+
+
+
+ setRightHandJointAngleUpdateTask->start();
+
+ rightHandUnitProxy = getProxy<HandUnitInterfacePrx>(rightHandUnitProxyName);
+ rightHandName = rightHandUnitProxy->getHandName();
+
+ if (rightHandName == "Hand R" || rightHandName == "TCP R")
{
- std::string shape = ((preshapeStrings->getVariant(i))->get<std::string>());
- list << QString::fromStdString(shape);
+ rightHandConversionFactor *= M_PI / 2;
}
+ else if (rightHandName != "Hand_R_EEF")
+ {
+ ARMARX_WARNING << "Right hand with name \"" << rightHandName << "\" is not supported.";
+ }
+
+ SingleTypeVariantListPtr rightHandPreshapeStrings = SingleTypeVariantListPtr::dynamicCast(rightHandUnitProxy->getShapeNames());
+ QStringList rightHandList;
+ int rightHandPreshapeCount = rightHandPreshapeStrings->getSize();
+
+ for (int i = 0; i < rightHandPreshapeCount; ++i)
+ {
+ std::string shape = ((rightHandPreshapeStrings->getVariant(i))->get<std::string>());
+// ARMARX_INFO << VAROUT(shape);
+ rightHandList << QString::fromStdString(shape);
+ }
+
+ ui.comboRightHandPreshapes->clear();
+ ui.comboRightHandPreshapes->addItems(rightHandList);
- ui.comboPreshapes->clear();
- ui.comboPreshapes->addItems(list);
+
+
+// ARMARX_INFO << "initGUIJointFrames";
+ initGUIJointFrames();
+ displayJointAngleUpdateTask = new PeriodicTask<HandUnitWidget>(this, &HandUnitWidget::updateJointValueTable, 50);
+ displayJointAngleUpdateTask->start();
}
void HandUnitWidget::onDisconnectComponent()
{
- jointAngleUpdateTask->stop();
+ setLeftHandJointAngleUpdateTask->stop();
+ setRightHandJointAngleUpdateTask->stop();
+ displayJointAngleUpdateTask->stop();
updateInfoTimer->stop();
}
@@ -121,136 +171,323 @@ namespace armarx
void HandUnitWidget::configured()
{
- handUnitProxyName = dialog->proxyFinder->getSelectedProxyName().toStdString();
+ leftHandUnitProxyName = dialog->proxyFinderLeftHand->getSelectedProxyName().toStdString();
+ rightHandUnitProxyName = dialog->proxyFinderRightHand->getSelectedProxyName().toStdString();
}
- void HandUnitWidget::preshapeHand()
+ void HandUnitWidget::preshapeLeftHand()
{
- setPreshape(ui.comboPreshapes->currentText().toUtf8().data());
+ setLeftHandPreshape(ui.comboLeftHandPreshapes->currentText().toUtf8().data());
}
- void HandUnitWidget::setJointAngles()
+ void HandUnitWidget::preshapeRightHand()
{
- if (!handUnitProxy)
+ setRightHandPreshape(ui.comboRightHandPreshapes->currentText().toUtf8().data());
+ }
+
+ void HandUnitWidget::setLeftHandJointAngles()
+ {
+// ARMARX_INFO << "setLeftHandJointAngles";
+ if (!leftHandUnitProxy)
{
ARMARX_WARNING << "invalid proxy";
return;
}
- if (!setJointAnglesFlag)
+ if (!setLeftHandJointAnglesFlag)
+ {
+ return;
+ }
+
+ setLeftHandJointAnglesFlag = false;
+
+ NameValueMap leftHandJa;
+ NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
+ float value = 0;
+ if (leftHandName == "Hand L" || leftHandName == "TCP L")
{
+ leftHandConversionFactor *= M_PI / 2;
+ }
+ else if (leftHandName != "Hand_L_EEF")
+ {
+ ARMARX_WARNING << "Left hand with name \"" << leftHandName << "\" is not supported.";
return;
}
- setJointAnglesFlag = false;
+ for (const auto& pair : currentLeftHandJointValues)
+ {
+ if (pair.first == currentLeftHandJoint)
+ {
+ value = static_cast<float>(ui.horizontalSliderLeftHandJointPos->value() * leftHandConversionFactor);
+// ARMARX_INFO << VAROUT(value);
+ leftHandJa[pair.first] = value;
+ break;
+ }
+ }
- NameValueMap ja;
+// ARMARX_INFO << VAROUT(value / leftHandConversionFactor);
+ ui.lcdNumberLeftHandJointValue->display(value / leftHandConversionFactor);
+ leftHandUnitProxy->setJointAngles(leftHandJa);
+ }
- if (handName == "Hand L" || handName == "TCP L")
+ void HandUnitWidget::setRightHandJointAngles()
+ {
+// ARMARX_INFO << "setRightHandJointAngles";
+ if (!rightHandUnitProxy)
{
- ja["Hand Palm 2 L"] = ui.horizontalSliderPalm->value() * M_PI / 180;
- ja["Index L J0"] = ui.horizontalSliderIndexJ0->value() * M_PI / 180;
- ja["Index L J1"] = ui.horizontalSliderIndexJ1->value() * M_PI / 180;
- ja["Middle L J0"] = ui.horizontalSliderMiddleJ0->value() * M_PI / 180;
- ja["Middle L J1"] = ui.horizontalSliderMiddleJ1->value() * M_PI / 180;
- ja["Thumb L J0"] = ui.horizontalSliderThumbJ0->value() * M_PI / 180;
- ja["Thumb L J1"] = ui.horizontalSliderThumbJ1->value() * M_PI / 180;
- float rinkyValue = ui.horizontalSliderRinky->value() * M_PI / 180;
- ja["Ring L J0"] = rinkyValue;
- ja["Ring L J1"] = rinkyValue;
- ja["Pinky L J0"] = rinkyValue;
- ja["Pinky L J1"] = rinkyValue;
+ ARMARX_WARNING << "invalid proxy";
+ return;
}
- else if (handName == "Hand R" || handName == "TCP R")
+
+ if (!setRightHandJointAnglesFlag)
{
- ja["Hand Palm 2 R"] = ui.horizontalSliderPalm->value() * M_PI / 180;
- ja["Index R J0"] = ui.horizontalSliderIndexJ0->value() * M_PI / 180;
- ja["Index R J1"] = ui.horizontalSliderIndexJ1->value() * M_PI / 180;
- ja["Middle R J0"] = ui.horizontalSliderMiddleJ0->value() * M_PI / 180;
- ja["Middle R J1"] = ui.horizontalSliderMiddleJ1->value() * M_PI / 180;
- ja["Thumb R J0"] = ui.horizontalSliderThumbJ0->value() * M_PI / 180;
- ja["Thumb R J1"] = ui.horizontalSliderThumbJ1->value() * M_PI / 180;
- float rinkyValue = ui.horizontalSliderRinky->value() * M_PI / 180;
- ja["Ring R J0"] = rinkyValue;
- ja["Ring R J1"] = rinkyValue;
- ja["Pinky R J0"] = rinkyValue;
- ja["Pinky R J1"] = rinkyValue;
+ return;
}
- else
+
+ setRightHandJointAnglesFlag = false;
+
+ NameValueMap rightHandJa;
+ NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
+ float value = 0;
+ if (rightHandName == "Hand R" || rightHandName == "TCP R")
+ {
+ rightHandConversionFactor *= M_PI / 2;
+ }
+ else if (rightHandName != "Hand_R_EEF")
+ {
+ ARMARX_WARNING << "Right hand with name \"" << rightHandName << "\" is not supported.";
+ return;
+ }
+
+ for (const auto& pair : currentRightHandJointValues)
{
- ARMARX_WARNING << "Hand with name \"" << handName << "\" is not supported.";
+ if (pair.first == currentRightHandJoint)
+ {
+ value = static_cast<float>(ui.horizontalSliderRightHandJointPos->value() * rightHandConversionFactor);
+// ARMARX_INFO << VAROUT(value);
+ rightHandJa[pair.first] = value;
+ break;
+ }
}
- handUnitProxy->setJointAngles(ja);
+// ARMARX_INFO << VAROUT(value / rightHandConversionFactor);
+ ui.lcdNumberRightHandJointValue->display(value / rightHandConversionFactor);
+ rightHandUnitProxy->setJointAngles(rightHandJa);
+ }
+
+ void HandUnitWidget::requestSetLeftHandJointAngles()
+ {
+ setLeftHandJointAnglesFlag = true;
}
- void HandUnitWidget::requestSetJointAngles()
+ void HandUnitWidget::requestSetRightHandJointAngles()
{
- setJointAnglesFlag = true;
+ setRightHandJointAnglesFlag = true;
}
- void HandUnitWidget::openHand()
+ void HandUnitWidget::openLeftHand()
{
- setPreshape("Open");
+ setLeftHandPreshape("Open");
}
- void HandUnitWidget::closeHand()
+ void HandUnitWidget::openRightHand()
{
- setPreshape("Close");
+ setRightHandPreshape("Open");
}
- void HandUnitWidget::closeThumb()
+ void HandUnitWidget::closeLeftHand()
{
- setPreshape("Thumb");
+ setLeftHandPreshape("Close");
}
- void HandUnitWidget::relaxHand()
+ void HandUnitWidget::closeRightHand()
{
- setPreshape("Relax");
+ setRightHandPreshape("Close");
+ }
+
+ void HandUnitWidget::relaxLeftHand()
+ {
+ setLeftHandPreshape("Relax");
+ }
+
+ void HandUnitWidget::relaxRightHand()
+ {
+ setRightHandPreshape("Relax");
}
void HandUnitWidget::updateInfoLabel()
{
- ui.labelInfo->setText(QString::fromStdString(handUnitProxyName + " :: " + handName + " State: " + handUnitProxy->describeHandState()));
+ ui.labelInfoLeftHand->setText(QString::fromStdString(leftHandUnitProxyName + " :: " + leftHandName + " State: " + leftHandUnitProxy->describeHandState()));
+ ui.labelInfoRightHand->setText(QString::fromStdString(rightHandUnitProxyName + " :: " + rightHandName + " State: " + rightHandUnitProxy->describeHandState()));
}
- void HandUnitWidget::setPreshape(std::string preshape)
+ void HandUnitWidget::updateJointValueTable()
{
- ARMARX_INFO << "Setting new hand shape: " << preshape;
- handUnitProxy->setShape(preshape);
+ NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
+// ARMARX_INFO << VAROUT(leftHandUnitProxy->getCurrentJointValues());
+ int frameLeftHandRowIdx = 0;
+
+ for (const auto& pair : currentLeftHandJointValues)
+ {
+// ARMARX_INFO << VAROUT(pair.first);
+ QString name(pair.first.c_str());
+ QTableWidgetItem* newItem = new QTableWidgetItem(QString::number(pair.second));
+ ui.tableWidgetLeftHand->setItem(frameLeftHandRowIdx, 1, newItem);
+ frameLeftHandRowIdx++;
+ }
+
+
+
+ NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
+// ARMARX_INFO << VAROUT(rightHandUnitProxy->getCurrentJointValues());
+ int frameRightHandRowIdx = 0;
+
+ for (const auto& pair : currentRightHandJointValues)
+ {
+// ARMARX_INFO << VAROUT(pair.first);
+ QString name(pair.first.c_str());
+ QTableWidgetItem* newItem = new QTableWidgetItem(QString::number(pair.second));
+ ui.tableWidgetRightHand->setItem(frameRightHandRowIdx, 1, newItem);
+ frameRightHandRowIdx++;
+ }
+ }
+
+ void HandUnitWidget::selectLeftHandJoint(int i)
+ {
+// ARMARX_INFO << "selectLeftHandJoint " << i;
+ NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
+ int idx = 0;
+
+ for (const auto& pair: currentLeftHandJointValues)
+ {
+ if (idx == i)
+ {
+ currentLeftHandJoint = pair.first;
+ int convertedValue = static_cast<int>(pair.second / leftHandConversionFactor);
+ ui.horizontalSliderLeftHandJointPos->setSliderPosition(convertedValue);
+ ui.lcdNumberLeftHandJointValue->display(convertedValue);
+// ARMARX_INFO << "Found joint";
+ break;
+ }
+ idx++;
+ }
+ }
+
+ void HandUnitWidget::selectRightHandJoint(int i)
+ {
+// ARMARX_INFO << "selectRightHandJoint " << i;
+ NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
+ int idx = 0;
+
+ for (const auto& pair: currentRightHandJointValues)
+ {
+ if (idx == i)
+ {
+ currentRightHandJoint = pair.first;
+ int convertedValue = static_cast<int>(pair.second / rightHandConversionFactor);
+ ui.horizontalSliderRightHandJointPos->setSliderPosition(convertedValue);
+ ui.lcdNumberRightHandJointValue->display(convertedValue);
+// ARMARX_INFO << "Found joint";
+ break;
+ }
+ idx++;
+ }
+ }
+
+ void HandUnitWidget::setLeftHandPreshape(std::string preshape)
+ {
+// ARMARX_INFO << "Setting new left hand shape: " << preshape;
+ leftHandUnitProxy->setShape(preshape);
+ }
+
+ void HandUnitWidget::setRightHandPreshape(std::string preshape)
+ {
+// ARMARX_INFO << "Setting new right hand shape: " << preshape;
+ rightHandUnitProxy->setShape(preshape);
}
void HandUnitWidget::loadSettings(QSettings* settings)
{
- handUnitProxyName = settings->value("handUnitProxyName", QString::fromStdString(handUnitProxyName)).toString().toStdString();
- handName = settings->value("handName", QString::fromStdString(handName)).toString().toStdString();
+ leftHandUnitProxyName = settings->value("leftHandUnitProxyName", QString::fromStdString(leftHandUnitProxyName)).toString().toStdString();
+ leftHandName = settings->value("leftHandName", QString::fromStdString(leftHandName)).toString().toStdString();
+ rightHandUnitProxyName = settings->value("rightHandUnitProxyName", QString::fromStdString(rightHandUnitProxyName)).toString().toStdString();
+ rightHandName = settings->value("rightHandName", QString::fromStdString(rightHandName)).toString().toStdString();
}
void HandUnitWidget::saveSettings(QSettings* settings)
{
- settings->setValue("handUnitProxyName", QString::fromStdString(handUnitProxyName));
- settings->setValue("handName", QString::fromStdString(handName));
- }
-
-
- void HandUnitWidget::connectSlots()
- {
- connect(ui.buttonPreshape, SIGNAL(clicked()), this, SLOT(preshapeHand()), Qt::UniqueConnection);
- connect(ui.buttonOpenHand, SIGNAL(clicked()), this, SLOT(openHand()), Qt::UniqueConnection);
- connect(ui.buttonCloseHand, SIGNAL(clicked()), this, SLOT(closeHand()), Qt::UniqueConnection);
- connect(ui.buttonCloseThumb, SIGNAL(clicked()), this, SLOT(closeThumb()), Qt::UniqueConnection);
- connect(ui.buttonRelaxHand, SIGNAL(clicked()), this, SLOT(relaxHand()), Qt::UniqueConnection);
- //connect(ui.comboPreshapes, SIGNAL(currentIndexChanged(const QString&)), this, SLOT(selectPreshape(const QString&)), Qt::UniqueConnection);
- connect(ui.buttonSetJointAngles, SIGNAL(clicked()), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
- connect(ui.horizontalSliderIndexJ0, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
- connect(ui.horizontalSliderIndexJ1, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
- connect(ui.horizontalSliderMiddleJ0, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
- connect(ui.horizontalSliderMiddleJ1, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
- connect(ui.horizontalSliderRinky, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
- connect(ui.horizontalSliderPalm, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
- connect(ui.horizontalSliderThumbJ0, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
- connect(ui.horizontalSliderThumbJ1, SIGNAL(sliderMoved(int)), this, SLOT(requestSetJointAngles()), Qt::UniqueConnection);
- connect(updateInfoTimer, SIGNAL(timeout()), this, SLOT(updateInfoLabel()));
+ settings->setValue("leftHandUnitProxyName", QString::fromStdString(leftHandUnitProxyName));
+ settings->setValue("leftHandName", QString::fromStdString(leftHandName));
+ settings->setValue("rightHandUnitProxyName", QString::fromStdString(rightHandUnitProxyName));
+ settings->setValue("rightHandName", QString::fromStdString(rightHandName));
+ }
+
+
+ void HandUnitWidget::initGUIJointFrames()
+ {
+ NameValueMap currentLeftHandJointValues = leftHandUnitProxy->getCurrentJointValues();
+// ARMARX_INFO << VAROUT(leftHandUnitProxy->getCurrentJointValues());
+ int frameLeftHandRowIdx = 0;
+
+ connect(ui.buttonPreshapeLeftHand, SIGNAL(clicked()), this, SLOT(preshapeLeftHand()), Qt::UniqueConnection);
+ connect(ui.buttonOpenLeftHand, SIGNAL(clicked()), this, SLOT(openLeftHand()), Qt::UniqueConnection);
+ connect(ui.buttonCloseLeftHand, SIGNAL(clicked()), this, SLOT(closeLeftHand()), Qt::UniqueConnection);
+ connect(ui.buttonRelaxLeftHand, SIGNAL(clicked()), this, SLOT(relaxLeftHand()), Qt::UniqueConnection);
+ ui.horizontalSliderLeftHandJointPos->setMaximum(100);
+ ui.horizontalSliderLeftHandJointPos->setMinimum(0);
+ connect(ui.horizontalSliderLeftHandJointPos, SIGNAL(sliderMoved(int)), this, SLOT(requestSetLeftHandJointAngles()), Qt::UniqueConnection);
+ connect(ui.comboLeftHandJoints, SIGNAL(currentIndexChanged(int)), this, SLOT(selectLeftHandJoint(int)), Qt::UniqueConnection);
+
+ ui.tableWidgetLeftHand->setRowCount(currentLeftHandJointValues.size());
+ ui.tableWidgetLeftHand->setColumnCount(2);
+
+ ui.comboLeftHandJoints->clear();
+
+ qRegisterMetaType<QVector<int> >("QVector<int>");
+ for (const auto& pair : currentLeftHandJointValues)
+ {
+// ARMARX_INFO << VAROUT(pair.first);
+ QString name(pair.first.c_str());
+ QTableWidgetItem* newItem = new QTableWidgetItem(name);
+ ui.tableWidgetLeftHand->setItem(frameLeftHandRowIdx, 0, newItem);
+ ui.comboLeftHandJoints->addItem(name);
+ frameLeftHandRowIdx++;
+ }
+
+ ui.comboLeftHandJoints->setCurrentIndex(-1);
+
+
+
+ NameValueMap currentRightHandJointValues = rightHandUnitProxy->getCurrentJointValues();
+// ARMARX_INFO << VAROUT(rightHandUnitProxy->getCurrentJointValues());
+ int frameRightHandRowIdx = 0;
+
+ connect(ui.buttonPreshapeRightHand, SIGNAL(clicked()), this, SLOT(preshapeRightHand()), Qt::UniqueConnection);
+ connect(ui.buttonOpenRightHand, SIGNAL(clicked()), this, SLOT(openRightHand()), Qt::UniqueConnection);
+ connect(ui.buttonCloseRightHand, SIGNAL(clicked()), this, SLOT(closeRightHand()), Qt::UniqueConnection);
+ connect(ui.buttonRelaxRightHand, SIGNAL(clicked()), this, SLOT(relaxRightHand()), Qt::UniqueConnection);
+ ui.horizontalSliderRightHandJointPos->setMaximum(100);
+ ui.horizontalSliderRightHandJointPos->setMinimum(0);
+ connect(ui.horizontalSliderRightHandJointPos, SIGNAL(sliderMoved(int)), this, SLOT(requestSetRightHandJointAngles()), Qt::UniqueConnection);
+ connect(ui.comboRightHandJoints, SIGNAL(currentIndexChanged(int)), this, SLOT(selectRightHandJoint(int)), Qt::UniqueConnection);
+
+ ui.tableWidgetRightHand->setRowCount(currentRightHandJointValues.size());
+ ui.tableWidgetRightHand->setColumnCount(2);
+
+ ui.comboRightHandJoints->clear();
+
+ qRegisterMetaType<QVector<int> >("QVector<int>");
+ for (const auto& pair : currentRightHandJointValues)
+ {
+// ARMARX_INFO << VAROUT(pair.first);
+ QString name(pair.first.c_str());
+ QTableWidgetItem* newItem = new QTableWidgetItem(name);
+ ui.tableWidgetRightHand->setItem(frameRightHandRowIdx, 0, newItem);
+ ui.comboRightHandJoints->addItem(name);
+ frameRightHandRowIdx++;
+ }
+
+ ui.comboRightHandJoints->setCurrentIndex(-1);
}
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index 2e7968738f29b200a0b5bf14f2f5358024762943..24d7900cedbff8c64539a33f6bc8b251af88fc26 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -112,36 +112,55 @@ namespace armarx
public slots:
- void preshapeHand();
- void setJointAngles();
- void requestSetJointAngles();
- void openHand();
- void closeHand();
- void closeThumb();
- void relaxHand();
+ void preshapeLeftHand();
+ void preshapeRightHand();
+ void setLeftHandJointAngles();
+ void setRightHandJointAngles();
+ void requestSetLeftHandJointAngles();
+ void requestSetRightHandJointAngles();
+ void openLeftHand();
+ void openRightHand();
+ void closeLeftHand();
+ void closeRightHand();
+ void relaxLeftHand();
+ void relaxRightHand();
void updateInfoLabel();
+ void updateJointValueTable();
+ void selectLeftHandJoint(int i);
+ void selectRightHandJoint(int i);
private:
- void setPreshape(std::string preshape);
+ void setLeftHandPreshape(std::string preshape);
+ void setRightHandPreshape(std::string preshape);
protected:
- void connectSlots();
+ void initGUIJointFrames();
Ui::HandUnitGuiPlugin ui;
private:
- std::string handName;
+ std::string leftHandName;
+ std::string rightHandName;
//std::string preshapeName;
- std::string handUnitProxyName;
- HandUnitInterfacePrx handUnitProxy;
+ std::string leftHandUnitProxyName;
+ std::string rightHandUnitProxyName;
+ HandUnitInterfacePrx leftHandUnitProxy;
+ HandUnitInterfacePrx rightHandUnitProxy;
//QPointer<QWidget> __widget;
QPointer<HandUnitConfigDialog> dialog;
- PeriodicTask<HandUnitWidget>::pointer_type jointAngleUpdateTask;
+ PeriodicTask<HandUnitWidget>::pointer_type setLeftHandJointAngleUpdateTask;
+ PeriodicTask<HandUnitWidget>::pointer_type setRightHandJointAngleUpdateTask;
+ PeriodicTask<HandUnitWidget>::pointer_type displayJointAngleUpdateTask;
QTimer* updateInfoTimer;
- bool setJointAnglesFlag;
+ bool setLeftHandJointAnglesFlag;
+ bool setRightHandJointAnglesFlag;
+ std::basic_string<char> currentLeftHandJoint;
+ std::basic_string<char> currentRightHandJoint;
+ double leftHandConversionFactor= 1.0 / 100.0;
+ double rightHandConversionFactor = 1.0 / 100.0;
// HandUnitListener interface
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
index bda4f4ae305f68c0b8b31a63850f6b8e79e07fdd..cec1e1ea724f251927d10b8a2c167579198b3726 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
@@ -19,239 +19,401 @@
<property name="windowTitle">
<string>Form</string>
</property>
- <layout class="QGridLayout" name="gridLayout">
- <item row="1" column="3">
- <widget class="Line" name="line">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item row="2" column="1" colspan="7">
- <widget class="QFrame" name="frame">
- <property name="frameShape">
- <enum>QFrame::StyledPanel</enum>
- </property>
- <property name="frameShadow">
- <enum>QFrame::Raised</enum>
- </property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="7" column="0">
- <widget class="QLabel" name="label_8">
- <property name="text">
- <string>Rinky</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Thumb J1</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QSlider" name="horizontalSliderThumbJ1">
- <property name="maximum">
- <number>90</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="7" column="1">
- <widget class="QSlider" name="horizontalSliderRinky">
- <property name="maximum">
- <number>90</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>Middle J1</string>
- </property>
- </widget>
- </item>
- <item row="5" column="0">
- <widget class="QLabel" name="label_6">
- <property name="text">
- <string>Middle J0</string>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_5">
- <property name="text">
- <string>Index J1</string>
- </property>
- </widget>
- </item>
- <item row="6" column="1">
- <widget class="QSlider" name="horizontalSliderMiddleJ1">
- <property name="maximum">
- <number>90</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QSlider" name="horizontalSliderMiddleJ0">
- <property name="maximum">
- <number>90</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QSlider" name="horizontalSliderThumbJ0">
- <property name="maximum">
- <number>90</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Thumb J0</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>Index J0</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QSlider" name="horizontalSliderPalm">
- <property name="maximum">
- <number>90</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QSlider" name="horizontalSliderIndexJ0">
- <property name="maximum">
- <number>90</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QSlider" name="horizontalSliderIndexJ1">
- <property name="maximum">
- <number>90</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="3" column="2" rowspan="2">
- <widget class="QPushButton" name="buttonSetJointAngles">
- <property name="maximumSize">
- <size>
- <width>50</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="text">
- <string>Set</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Palm</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item row="1" column="7">
- <widget class="QPushButton" name="buttonRelaxHand">
- <property name="text">
- <string>Relax</string>
- </property>
- </widget>
- </item>
- <item row="1" column="5">
- <widget class="QPushButton" name="buttonCloseThumb">
- <property name="text">
- <string>Thumb</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QComboBox" name="comboPreshapes"/>
- </item>
- <item row="1" column="2">
- <widget class="QPushButton" name="buttonPreshape">
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="text">
- <string>Preshape</string>
- </property>
- </widget>
- </item>
- <item row="1" column="6">
- <widget class="QPushButton" name="buttonCloseHand">
- <property name="text">
- <string>Close</string>
- </property>
- </widget>
- </item>
- <item row="1" column="4">
- <widget class="QPushButton" name="buttonOpenHand">
- <property name="text">
- <string>Open</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1" colspan="7">
- <widget class="QLabel" name="labelInfo">
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>20</height>
- </size>
- </property>
- <property name="font">
- <font>
- <weight>75</weight>
- <bold>true</bold>
- </font>
- </property>
- <property name="text">
- <string><Info Here></string>
- </property>
- </widget>
- </item>
- </layout>
+ <widget class="Line" name="lineLeftHand">
+ <property name="geometry">
+ <rect>
+ <x>146</x>
+ <y>35</y>
+ <width>16</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ <widget class="QFrame" name="frameLeftHand">
+ <property name="geometry">
+ <rect>
+ <x>9</x>
+ <y>156</y>
+ <width>301</width>
+ <height>231</height>
+ </rect>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="0">
+ <widget class="QTableWidget" name="tableWidgetLeftHand"/>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QComboBox" name="comboLeftHandPreshapes">
+ <property name="geometry">
+ <rect>
+ <x>9</x>
+ <y>35</y>
+ <width>60</width>
+ <height>25</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="buttonPreshapeLeftHand">
+ <property name="geometry">
+ <rect>
+ <x>71</x>
+ <y>35</y>
+ <width>80</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>100</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Preshape</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="buttonOpenLeftHand">
+ <property name="geometry">
+ <rect>
+ <x>157</x>
+ <y>35</y>
+ <width>50</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Open</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="labelInfoLeftHand">
+ <property name="geometry">
+ <rect>
+ <x>9</x>
+ <y>9</y>
+ <width>85</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string><Info Here></string>
+ </property>
+ </widget>
+ <widget class="Line" name="line">
+ <property name="geometry">
+ <rect>
+ <x>310</x>
+ <y>0</y>
+ <width>20</width>
+ <height>401</height>
+ </rect>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="buttonCloseLeftHand">
+ <property name="geometry">
+ <rect>
+ <x>209</x>
+ <y>35</y>
+ <width>50</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Close</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="buttonRelaxLeftHand">
+ <property name="geometry">
+ <rect>
+ <x>261</x>
+ <y>35</y>
+ <width>50</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Relax</string>
+ </property>
+ </widget>
+ <widget class="QComboBox" name="comboRightHandPreshapes">
+ <property name="geometry">
+ <rect>
+ <x>330</x>
+ <y>35</y>
+ <width>60</width>
+ <height>25</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="buttonOpenRightHand">
+ <property name="geometry">
+ <rect>
+ <x>478</x>
+ <y>35</y>
+ <width>50</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Open</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="buttonPreshapeRightHand">
+ <property name="geometry">
+ <rect>
+ <x>392</x>
+ <y>35</y>
+ <width>80</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>100</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Preshape</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="buttonCloseRightHand">
+ <property name="geometry">
+ <rect>
+ <x>530</x>
+ <y>35</y>
+ <width>50</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Close</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="buttonRelaxRightHand">
+ <property name="geometry">
+ <rect>
+ <x>582</x>
+ <y>35</y>
+ <width>50</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Relax</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="labelInfoRightHand">
+ <property name="geometry">
+ <rect>
+ <x>330</x>
+ <y>9</y>
+ <width>85</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string><Info Here></string>
+ </property>
+ </widget>
+ <widget class="Line" name="lineRightHand">
+ <property name="geometry">
+ <rect>
+ <x>467</x>
+ <y>35</y>
+ <width>16</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ <widget class="QLabel" name="labelSelectLeftHandJoint">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>80</y>
+ <width>81</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Select Joint</string>
+ </property>
+ </widget>
+ <widget class="QComboBox" name="comboLeftHandJoints">
+ <property name="geometry">
+ <rect>
+ <x>100</x>
+ <y>75</y>
+ <width>150</width>
+ <height>25</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QLCDNumber" name="lcdNumberLeftHandJointValue">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>117</y>
+ <width>64</width>
+ <height>26</height>
+ </rect>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>100</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string/>
+ </property>
+ <property name="smallDecimalPoint">
+ <bool>false</bool>
+ </property>
+ </widget>
+ <widget class="QSlider" name="horizontalSliderLeftHandJointPos">
+ <property name="geometry">
+ <rect>
+ <x>90</x>
+ <y>120</y>
+ <width>221</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>100</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ <widget class="QLCDNumber" name="lcdNumberRightHandJointValue">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>330</x>
+ <y>117</y>
+ <width>64</width>
+ <height>26</height>
+ </rect>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>100</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string/>
+ </property>
+ <property name="smallDecimalPoint">
+ <bool>false</bool>
+ </property>
+ </widget>
+ <widget class="QLabel" name="labelSelectRightHandJoint">
+ <property name="geometry">
+ <rect>
+ <x>330</x>
+ <y>80</y>
+ <width>81</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Select Joint</string>
+ </property>
+ </widget>
+ <widget class="QFrame" name="frameRightHand">
+ <property name="geometry">
+ <rect>
+ <x>329</x>
+ <y>156</y>
+ <width>301</width>
+ <height>231</height>
+ </rect>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_4">
+ <item row="0" column="0">
+ <widget class="QTableWidget" name="tableWidgetRightHand"/>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QComboBox" name="comboRightHandJoints">
+ <property name="geometry">
+ <rect>
+ <x>420</x>
+ <y>75</y>
+ <width>150</width>
+ <height>25</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QSlider" name="horizontalSliderRightHandJointPos">
+ <property name="geometry">
+ <rect>
+ <x>410</x>
+ <y>120</y>
+ <width>221</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>100</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
</widget>
<resources/>
<connections/>