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Cleanup motion #414
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Cleanup motion #414
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This was referenced Aug 11, 2023
This was referenced Aug 11, 2023
Co-authored-by: Jan Gutsche <[email protected]>
…nto cleanup_motion
jaagut
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Nov 4, 2023
bitbots_animation_server/bitbots_animation_server/animation_node.py
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| def send_animation_request(self): | ||
| self.anim_msg.request = True | ||
| self.anim_msg.header.stamp = self.get_clock().now().to_msg() | ||
| self.hcm_publisher.publish(self.anim_msg) | ||
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| def send_animation(self, first, last, hcm, pose, torque): | ||
| self.anim_msg.request = False | ||
| self.anim_msg.first = first | ||
| self.anim_msg.last = last | ||
| self.anim_msg.hcm = hcm | ||
| if pose is not None: | ||
| self.traj_msg.joint_names = [] | ||
| self.traj_msg.points = [JointTrajectoryPoint()] | ||
| anim_msg = AnimationMsg() | ||
| anim_msg.request = True | ||
| anim_msg.header.stamp = self.get_clock().now().to_msg() | ||
| self.hcm_publisher.publish(anim_msg) | ||
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| def send_animation(self, first: bool, last: bool, hcm: bool, pose: dict, torque: dict): | ||
| """Sends an animation to the hcm""" | ||
| anim_msg = AnimationMsg() | ||
| anim_msg.request = False | ||
| anim_msg.first = first | ||
| anim_msg.last = last | ||
| anim_msg.hcm = hcm | ||
| if pose is not None:# | ||
| traj_msg = JointTrajectory() | ||
| traj_msg.joint_names = [] | ||
| traj_msg.points = [JointTrajectoryPoint()] | ||
| # We are only using a single point in the trajectory message, since we only want to send a single joint goal | ||
| self.traj_msg.points[0].positions = [] | ||
| self.traj_msg.points[0].effort = [] | ||
| traj_msg.points[0].positions = [] | ||
| traj_msg.points[0].effort = [] | ||
| for joint in pose: | ||
| self.traj_msg.joint_names.append(joint) | ||
| self.traj_msg.points[0].positions.append(pose[joint]) | ||
| traj_msg.joint_names.append(joint) |
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I still think, it is weired how HCM and animation server are intertwined... @Flova do you remember our alternative approach discussed in the TAMS lab? Could you please open an issue for this?
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I don't know what you mean.
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I don't remember the solution approach. But the thing I was referring to is the (old) quirk of the HCM flag in the PlayAnimation call and the animation server handling it different depending on the flag.
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I don't remember this. Be we talked about having the head safe states as part of the head mover, so it could select an optimal orientation.
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If not yet, please open an issue.
bitbots_animation_server/bitbots_animation_server/spline_animator.py
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…de.py Co-authored-by: Jan Gutsche <[email protected]>
…tor.py Co-authored-by: Jan Gutsche <[email protected]>
Co-authored-by: Jan Gutsche <[email protected]>
Co-authored-by: Jan Gutsche <[email protected]>
Co-authored-by: Jan Gutsche <[email protected]>
…nto cleanup_motion
jaagut
reviewed
Nov 13, 2023
jaagut
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Nov 13, 2023
Co-authored-by: Jan Gutsche <[email protected]>
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Proposed changes
Related prs
bit-bots/bitbots_behavior#334
#414
bit-bots/bitbots_navigation#201
bit-bots/bitbots_lowlevel#136
bit-bots/bitbots_misc#237
bit-bots/udp_bridge#26
bit-bots/humanoid_league_misc#139
bit-bots/wolfgang_robot#280
bit-bots/bitbots_msgs#28