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It immediately crashes on startup 😢
march_rqt_gait_generator/src/march_rqt_gait_generator/side_subgait_view.py
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march_rqt_gait_generator/src/march_rqt_gait_generator/gait_generator_view.py
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march_rqt_gait_generator/src/march_rqt_gait_generator/gait_generator_view.py
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Sorry 'bout that 😢. Should be fixed now |
# Conflicts: # march_rqt_gait_generator/src/march_rqt_gait_generator/gait_generator_controller.py
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One comment about the user interaction:
When you 'lock' a point without first specifying how, the point is not locked but the checkbox is checked. I think you should automatically check standing as well in that case as that is kind of your default right now.
Hmm this was a deliberate choice since I felt this way was the most intuitive. I could also simply lock it to the current position, that makes more sense than defaulting to standing I think. @marnixbrands @gaiavdh what do you think? |
I think locking into the current position might be nice also. I just think that checking the lock checkbox and then nothing happening is not so intuitive. |
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I was playing around a bit with this new feature and found two things:
- When I imported the sit down gait as previous subgait and played the viz the joints wouldn't move, only when I added a new setpoint.
- When I then inverted the gait and imported the standing subgait as next subgait it crashed and I got this error:
Traceback (most recent call last):
File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_controller.py", line 53, in <lambda>
lambda: self.import_side_subgait('next'))
File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_controller.py", line 251, in import_side_subgait
self.next_subgait = subgait
File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_controller.py", line 422, in next_subgait
self.handle_sidepoint_lock('next')
File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_controller.py", line 395, in handle_sidepoint_lock
self.view.update_joint_widgets(self.subgait.joints)
File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_view.py", line 173, in update_joint_widgets
self.update_joint_widget(joint)
File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_view.py", line 179, in update_joint_widget
show_effort_plot=self.effort_plot_check_box.isChecked())
File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/joint_plot.py", line 128, in update_setpoints
[indices, position_data, velocity_data] = joint.interpolate_setpoints()
File "/home/olav/march_ws/install/march_shared_classes/lib/python2.7/dist-packages/march_shared_classes/gait/joint_trajectory.py", line 93, in interpolate_setpoints
position = BPoly.from_derivatives(time, yi)
File "/usr/lib/python2.7/dist-packages/scipy/interpolate/interpolate.py", line 1641, in from_derivatives
raise ValueError("x coordinates are not in increasing order")
ValueError: x coordinates are not in increasing order
Furthermore, It's kinda fun because now you can just import any two subgaits and create a transition between them 🙂
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Lookin' fine boi 🔥
I think the way it is implemented now is really nice! Locking the current position when no previous/next subgait is selected is a good choice I guess, as you can use the "standing" checkbox to go to the default standing position if you want |
Closes PM-480
Description
It is now possible to lock the end and startpoint of a subgait to ensure good transition to imported side subgaits. Any change to the side subgait buttons/checkboxes can be undone.
Damn that undo functionality took so much more time than the rest...
Changes