Added left and right arm controls
Temp Working Updates Playback working Fix
This commit is contained in:
David Walsh
@@ -1,175 +1,288 @@
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<div class="panel panel-default">
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<div class="panel-heading">
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Select Operation Mode
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</div>
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<div class="panel-body text-center">
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<div class="col-md-6">
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<button id="teachingModeButton" type="button" onclick="triggerService('/aescape/mode/activateTeachingController')" class="btn btn-primary">
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Teaching Mode
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</button>
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<button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
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Massage Mode
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</button>
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<button id="readyModeButton" type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
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Ready Mode
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</button>
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<button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/activateStandbyController')" class="btn btn-primary">
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Standby Mode
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</button>
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<button id="stoppedModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
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Stopped Mode
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</button>
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</div>
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<div class="col-md-6">
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Safety Monitor Status:
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<div class="row-md-3">
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<h4><span id="safetyRunning" class="label label-default">Running</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="safetyStopped" class="label label-default">Stopped</span></h4>
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</div>
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<div class="row-md-3">
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<button type="button" onclick="triggerService('/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
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Activate Safety Monitor
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</button>
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</div>
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</div>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Franka Arm Status
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</div>
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<div class="panel-body text-center">
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<div class="col-md-4">
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Current Robot Status:
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<!-- <div class="col-md-3" id="FrankaStatus">
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N/A
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</div> -->
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<div class="row-md-3">
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<h4><span id="frankaModeOther" class="label label-default">Other</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="frankaModeIdle" class="label label-default">Idle</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="frankaModeMove" class="label label-default">Move</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="frankaModeGuiding" class="label label-default">Guiding</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="frankaModeReflex" class="label label-default">Reflex</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="frankaModeUserStopped" class="label label-default">User Stopped</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="frankaModeErrorRecovery" class="label label-default">Automatic Error Recovery</span></h4>
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</div>
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</div>
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<button id="fixFrankaButton" type="button" onclick="triggerService('/aescape/hardware/resetFrankaError')" class="btn btn-primary">
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Fix Franka Errors
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</button>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Robotiq
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</div>
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<div class="panel-body text-center">
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<div class="col-md-4">
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Current Robotiq Values:
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<div class="row-md-3">
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<h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
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</div>
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<div class="row-md-3">
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<h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
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</div>
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<div class="row-md-3">
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<h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
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</div>
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</div>
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<div class="row-md-3">
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<button id="calibrateButton" type="button" onclick="triggerService('/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
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Calibrate Robotiq
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</button>
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</div>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Teaching Mode Operations
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</div>
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<div class="panel-body text-center">
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<span class="row">
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<label id="RecordingStatusLabel" class="label-warning">
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Bag manager not connected!
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</label>
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</span>
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<button type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-default">
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Activate Ready Mode
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</button>
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<button id="recordingStartButton" type="button" onclick="triggerService('/aescape/hardware/calibrateRobotiq'); triggerService('/aescape/mode/activateTeachingController'); triggerService('/aescape/bags/startTeachRecording')" class="btn btn-primary">
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Start Teach Recording
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</button>
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<button id="recordingStopButton" type="button" onclick="triggerService('/aescape/bags/stopTeachRecording'); triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
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Stop Teach Recording
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</button>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Execution Mode Operations
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</div>
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<div class="panel-body text-center">
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<span class="row">
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<label id="ExecutionStatusLabel" class="label-warning">
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Bag manager not connected!
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</label>
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</span>
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Last Bag Playing:
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<span id="lastbagText">
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None
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</span>
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<div>
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<button type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-default">
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Activate Ready Mode
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</button>
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<button id="executionStartButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController'); triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
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Play Last Recording
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</button>
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<button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
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Stop Playing Recording
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</button>
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<div class="row">
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<div class="col-md-3">
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Bagfile name must not start with "/"
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<div class="input-group">
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<input type="text" id="bagNameText" class="form-control" placeholder="bag_filename">
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<span class="input-group-btn">
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<button class="btn btn-primary" type="button" onclick="triggerMessageService('/startPlayingRecording', 'bagNameText')">
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<span>
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Start Playing Bag
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</span>
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</button>
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</span>
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<div class="panel panel-default">
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<div class="panel-body text-center">
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<div class="col-lg-6">
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<div class="panel panel-default">
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<div class="panel-heading">
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Left Arm Controls
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Select Operation Mode
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</div>
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<div class="panel-body text-center">
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<div class="col-md-6">
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<button id="left_teachingModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateTeachingController')" class="btn btn-primary">
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Teaching Mode
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</button>
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<button id="left_executionModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController')" class="btn btn-primary">
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Massage Mode
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</button>
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<button id="left_readyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
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Ready Mode
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</button>
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<button id="left_standbyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateStandbyController')" class="btn btn-primary">
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Standby Mode
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</button>
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<button id="left_stoppedModeButton" type="button" onclick="triggerService('/left/aescape/mode/stopControllers')" class="btn btn-primary">
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Stopped Mode
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</button>
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</div>
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<div class="col-md-6">
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Safety Monitor Status:
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<div class="row-md-3">
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<h4><span id="left_safetyRunning" class="label label-default">Running</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_safetyStopped" class="label label-default">Stopped</span></h4>
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</div>
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<div class="row-md-3">
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<button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
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Activate Safety Monitor
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</button>
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</div>
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</div>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Franka Arm Status
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</div>
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<div class="panel-body text-center">
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<div class="col-md-4">
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Current Robot Status:
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<div class="row-md-3">
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<h4><span id="left_frankaModeOther" class="label label-default">Other</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeIdle" class="label label-default">Idle</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeMove" class="label label-default">Move</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeGuiding" class="label label-default">Guiding</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeReflex" class="label label-default">Reflex</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeUserStopped" class="label label-default">User Stopped</span></h4>
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</div>
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<div class="row-md-3">
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<h4><span id="left_frankaModeErrorRecovery" class="label label-default">Automatic Error Recovery</span></h4>
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</div>
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</div>
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<button id="left_fixFrankaButton" type="button" onclick="triggerService('/left/aescape/hardware/resetFrankaError')" class="btn btn-primary">
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Fix Franka Errors
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</button>
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</div>
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</div>
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<div class="panel panel-default">
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<div class="panel-heading">
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Robotiq
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</div>
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<div class="panel-body text-center">
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||||
<div class="col-md-4">
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Current Robotiq Values:
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||||
<div class="row-md-3">
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||||
<h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
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</div>
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<div class="row-md-3">
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<h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
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</div>
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<div class="row-md-3">
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<h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
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</div>
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</div>
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<div class="row-md-3">
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<button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
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Calibrate Robotiq
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</button>
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</div>
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</div>
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</div>
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<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Teaching Mode Operations
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<span class="row">
|
||||
<label id="RecordingStatusLabel" class="label-warning">
|
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Bag manager not connected!
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||||
</label>
|
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</span>
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<button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-default">
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Activate Ready Mode
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</button>
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<button id="recordingStartButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq'); triggerService('/left/aescape/mode/activateTeachingController'); triggerService('/aescape/bags/startTeachRecording')" class="btn btn-primary">
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Start Teach Recording
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</button>
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<button id="recordingStopButton" type="button" onclick="triggerService('/aescape/bags/stopTeachRecording'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
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||||
Stop Teach Recording
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Execution Mode Operations
|
||||
</div>
|
||||
|
||||
|
||||
<div class="panel-body text-center">
|
||||
|
||||
<span class="row">
|
||||
<label id="ExecutionStatusLabel" class="label-warning">
|
||||
Bag manager not connected!
|
||||
</label>
|
||||
</span>
|
||||
|
||||
Last Bag Playing:
|
||||
<span id="lastbagText">
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||||
None
|
||||
</span>
|
||||
<div>
|
||||
<button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-default">
|
||||
Activate Ready Mode
|
||||
</button>
|
||||
<button id="executionStartButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController'); triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
|
||||
Play Last Recording
|
||||
</button>
|
||||
<button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
|
||||
Stop Playing Recording
|
||||
</button>
|
||||
<div class="row">
|
||||
<div class="col-md-3">
|
||||
Bagfile name must not start with "/"
|
||||
<div class="input-group">
|
||||
<input type="text" id="bagNameText" class="form-control" placeholder="bag_filename">
|
||||
<span class="input-group-btn">
|
||||
<button class="btn btn-primary" type="button" onclick="triggerMessageService('/startPlayingRecording', 'bagNameText')">
|
||||
<span>
|
||||
Start Playing Bag
|
||||
</span>
|
||||
</button>
|
||||
</span>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<!-- </div> -->
|
||||
|
||||
|
||||
<div class="col-lg-6">
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Right Arm Controls
|
||||
</div>
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Select Operation Mode
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="col-md-6">
|
||||
<button id="right_teachingModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateTeachingController')" class="btn btn-primary">
|
||||
Teaching Mode
|
||||
</button>
|
||||
<button id="right_executionModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateExecutionController')" class="btn btn-primary">
|
||||
Massage Mode
|
||||
</button>
|
||||
<button id="right_readyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateReadyController')" class="btn btn-primary">
|
||||
Ready Mode
|
||||
</button>
|
||||
<button id="right_standbyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateStandbyController')" class="btn btn-primary">
|
||||
Standby Mode
|
||||
</button>
|
||||
<button id="right_stoppedModeButton" type="button" onclick="triggerService('/right/aescape/mode/stopControllers')" class="btn btn-primary">
|
||||
Stopped Mode
|
||||
</button>
|
||||
</div>
|
||||
<div class="col-md-6">
|
||||
Safety Monitor Status:
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_safetyRunning" class="label label-default">Running</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_safetyStopped" class="label label-default">Stopped</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<button type="button" onclick="triggerService('/right/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
|
||||
Activate Safety Monitor
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Franka Arm Status
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="col-md-4">
|
||||
Current Robot Status:
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeOther" class="label label-default">Other</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeIdle" class="label label-default">Idle</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeMove" class="label label-default">Move</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeGuiding" class="label label-default">Guiding</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeReflex" class="label label-default">Reflex</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeUserStopped" class="label label-default">User Stopped</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="right_frankaModeErrorRecovery" class="label label-default">Automatic Error Recovery</span></h4>
|
||||
</div>
|
||||
</div>
|
||||
<button id="right_fixFrankaButton" type="button" onclick="triggerService('/right/aescape/hardware/resetFrankaError')" class="btn btn-primary">
|
||||
Fix Franka Errors
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<!-- <div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Robotiq
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="col-md-4">
|
||||
Current Robotiq Values:
|
||||
<div class="row-md-3">
|
||||
<h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
|
||||
</div>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<button id="calibrateButton" type="button" onclick="triggerService('/right/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
|
||||
Calibrate Robotiq
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div> -->
|
||||
</div>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- <div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
|
||||
@@ -16,69 +16,169 @@
|
||||
// Subscribers
|
||||
////////////////////////////////////////////////////////////////
|
||||
|
||||
// Operation Mode
|
||||
var modeStatus = new ROSLIB.Topic({
|
||||
class ArmControls
|
||||
{
|
||||
constructor(namespace) {
|
||||
this.namespace = namespace;
|
||||
|
||||
// Franka Status
|
||||
this.frankaStatusTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/'+this.namespace+'/franka_state_controller/franka_states',
|
||||
messageType : 'franka_msgs/FrankaState',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
this.frankaStatusTopic.subscribe(this.frankaStatus.bind(this));
|
||||
|
||||
// Mode Status
|
||||
this.modeStatusTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/'+this.namespace+'/aescape/mode/status',
|
||||
messageType : 'std_msgs/String',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
this.modeStatusTopic.subscribe(this.modeStatus.bind(this));
|
||||
|
||||
// Safety Status
|
||||
this.safetyStatusTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/'+this.namespace+'/aescape/mode/safety_status',
|
||||
messageType : 'std_msgs/String',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
this.safetyStatusTopic.subscribe(this.safetyStatus.bind(this));
|
||||
|
||||
}
|
||||
|
||||
// FrankaState
|
||||
frankaStatus(message) {
|
||||
document.getElementById(this.namespace+"_frankaModeOther").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeIdle").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeMove").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeGuiding").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeReflex").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeUserStopped").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_frankaModeErrorRecovery").className = "label label-default"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-primary"
|
||||
|
||||
if (message.robot_mode == 0)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeOther").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
|
||||
}
|
||||
else if (message.robot_mode == 1)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeIdle").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
|
||||
}
|
||||
else if (message.robot_mode == 2)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeMove").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-success"
|
||||
}
|
||||
else if (message.robot_mode == 3)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeGuiding").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
|
||||
}
|
||||
else if (message.robot_mode == 4)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeReflex").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
|
||||
|
||||
}
|
||||
else if (message.robot_mode == 5)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeUserStopped").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
|
||||
}
|
||||
else if (message.robot_mode == 6)
|
||||
{
|
||||
document.getElementById(this.namespace+"_frankaModeErrorRecovery").className = "label label-warning"
|
||||
document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
|
||||
}
|
||||
}
|
||||
|
||||
// Operation Mode
|
||||
modeStatus(message) {
|
||||
document.getElementById(this.namespace+"_stoppedModeButton").className = "btn btn-secondary"
|
||||
document.getElementById(this.namespace+"_standbyModeButton").className = "btn btn-primary"
|
||||
document.getElementById(this.namespace+"_readyModeButton").className = "btn btn-primary"
|
||||
document.getElementById(this.namespace+"_teachingModeButton").className = "btn btn-primary"
|
||||
document.getElementById(this.namespace+"_executionModeButton").className = "btn btn-primary"
|
||||
|
||||
if (this.namespace == "left")
|
||||
{
|
||||
document.getElementById("recordingStartButton").disabled = true
|
||||
document.getElementById("executionStartButton").disabled = true
|
||||
}
|
||||
|
||||
if (message.data == "stopped")
|
||||
{
|
||||
document.getElementById(this.namespace+"_stoppedModeButton").className = "btn btn-warning"
|
||||
}
|
||||
else if (message.data == "standby")
|
||||
{
|
||||
document.getElementById(this.namespace+"_standbyModeButton").className = "btn btn-primary btn-success"
|
||||
}
|
||||
else if (message.data == "teach")
|
||||
{
|
||||
document.getElementById(this.namespace+"_teachingModeButton").className = "btn btn-primary btn-success"
|
||||
}
|
||||
else if (message.data == "execution")
|
||||
{
|
||||
document.getElementById(this.namespace+"_executionModeButton").className = "btn btn-primary btn-success"
|
||||
}
|
||||
else if (message.data == "ready")
|
||||
{
|
||||
document.getElementById(this.namespace+"_readyModeButton").className = "btn btn-primary btn-success"
|
||||
|
||||
if (this.namespace == "left")
|
||||
{
|
||||
document.getElementById("recordingStartButton").disabled = false
|
||||
document.getElementById("executionStartButton").disabled = false
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
safetyStatus(message) {
|
||||
document.getElementById(this.namespace+"_safetyRunning").className = 'label label-default';
|
||||
document.getElementById(this.namespace+"_safetyStopped").className = 'label label-default';
|
||||
|
||||
if (message.data == "stopped")
|
||||
{
|
||||
document.getElementById(this.namespace+"_safetyStopped").className = 'label label-danger';
|
||||
}
|
||||
else if (message.data == "running")
|
||||
{
|
||||
document.getElementById(this.namespace+"_safetyRunning").className = 'label label-success';
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
var leftArmControls = new ArmControls('left');
|
||||
var rightArmControls = new ArmControls('right');
|
||||
|
||||
|
||||
// Robotiq Data
|
||||
var robotiqDataTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/aescape/mode/status',
|
||||
messageType : 'std_msgs/String',
|
||||
name : '/left/robotiq_ft_wrench',
|
||||
messageType : 'geometry_msgs/WrenchStamped',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
|
||||
modeStatus.subscribe(function(message) {
|
||||
document.getElementById("stoppedModeButton").className = "btn btn-secondary"
|
||||
document.getElementById("standbyModeButton").className = "btn btn-primary"
|
||||
document.getElementById("readyModeButton").className = "btn btn-primary"
|
||||
document.getElementById("teachingModeButton").className = "btn btn-primary"
|
||||
document.getElementById("executionModeButton").className = "btn btn-primary"
|
||||
|
||||
document.getElementById("recordingStartButton").disabled = true
|
||||
document.getElementById("executionStartButton").disabled = true
|
||||
robotiqDataTopic.subscribe(function(message) {
|
||||
var force = message.wrench.force
|
||||
document.getElementById("robotiqX").innerHTML = force.x.toFixed(1)
|
||||
document.getElementById("robotiqY").innerHTML = force.y.toFixed(1)
|
||||
document.getElementById("robotiqZ").innerHTML = force.z.toFixed(1)
|
||||
|
||||
|
||||
|
||||
if (message.data == "stopped")
|
||||
if ((Math.abs(force.x) > 0.5) || (Math.abs(force.y) > 0.5) || (Math.abs(force.z) > 0.5))
|
||||
{
|
||||
document.getElementById("stoppedModeButton").className = "btn btn-warning"
|
||||
}
|
||||
else if (message.data == "standby")
|
||||
{
|
||||
document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
|
||||
}
|
||||
else if (message.data == "teach")
|
||||
{
|
||||
document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
|
||||
}
|
||||
else if (message.data == "execution")
|
||||
{
|
||||
document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
|
||||
}
|
||||
else if (message.data == "ready")
|
||||
{
|
||||
document.getElementById("readyModeButton").className = "btn btn-primary btn-success"
|
||||
document.getElementById("recordingStartButton").disabled = false
|
||||
document.getElementById("executionStartButton").disabled = false
|
||||
}
|
||||
});
|
||||
|
||||
// Safety Status
|
||||
var safetyStatusTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/aescape/mode/safety_status',
|
||||
messageType : 'std_msgs/String',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
|
||||
safetyStatusTopic.subscribe(function(message) {
|
||||
document.getElementById("safetyRunning").className = 'label label-default';
|
||||
document.getElementById("safetyStopped").className = 'label label-default';
|
||||
|
||||
if (message.data == "stopped")
|
||||
{
|
||||
document.getElementById("safetyStopped").className = 'label label-danger';
|
||||
}
|
||||
else if (message.data == "running")
|
||||
{
|
||||
document.getElementById("safetyRunning").className = 'label label-success';
|
||||
document.getElementById("calibrateButton").className = "btn btn-danger"
|
||||
} else {
|
||||
document.getElementById("calibrateButton").className = "btn btn-default"
|
||||
}
|
||||
});
|
||||
|
||||
@@ -135,85 +235,6 @@ bagPlayingTopic.subscribe(function(message) {
|
||||
document.getElementById("lastbagText").innerHTML = message.data
|
||||
});
|
||||
|
||||
// FrankaState
|
||||
var frankaStatus = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/franka_state_controller/franka_states',
|
||||
messageType : 'franka_msgs/FrankaState',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
|
||||
frankaStatus.subscribe(function(message) {
|
||||
document.getElementById("frankaModeOther").className = "label label-default"
|
||||
document.getElementById("frankaModeIdle").className = "label label-default"
|
||||
document.getElementById("frankaModeMove").className = "label label-default"
|
||||
document.getElementById("frankaModeGuiding").className = "label label-default"
|
||||
document.getElementById("frankaModeReflex").className = "label label-default"
|
||||
document.getElementById("frankaModeUserStopped").className = "label label-default"
|
||||
document.getElementById("frankaModeErrorRecovery").className = "label label-default"
|
||||
document.getElementById("fixFrankaButton").className = "btn btn-primary"
|
||||
|
||||
if (message.robot_mode == 0)
|
||||
{
|
||||
document.getElementById("frankaModeOther").className = "label label-warning"
|
||||
document.getElementById("fixFrankaButton").className = "btn btn-danger"
|
||||
}
|
||||
else if (message.robot_mode == 1)
|
||||
{
|
||||
document.getElementById("frankaModeIdle").className = "label label-warning"
|
||||
document.getElementById("fixFrankaButton").className = "btn btn-danger"
|
||||
}
|
||||
else if (message.robot_mode == 2)
|
||||
{
|
||||
document.getElementById("frankaModeMove").className = "label label-warning"
|
||||
document.getElementById("fixFrankaButton").className = "btn btn-success"
|
||||
}
|
||||
else if (message.robot_mode == 3)
|
||||
{
|
||||
document.getElementById("frankaModeGuiding").className = "label label-warning"
|
||||
document.getElementById("fixFrankaButton").className = "btn btn-default"
|
||||
}
|
||||
else if (message.robot_mode == 4)
|
||||
{
|
||||
document.getElementById("frankaModeReflex").className = "label label-warning"
|
||||
document.getElementById("fixFrankaButton").className = "btn btn-danger"
|
||||
|
||||
}
|
||||
else if (message.robot_mode == 5)
|
||||
{
|
||||
document.getElementById("frankaModeUserStopped").className = "label label-warning"
|
||||
document.getElementById("fixFrankaButton").className = "btn btn-default"
|
||||
}
|
||||
else if (message.robot_mode == 6)
|
||||
{
|
||||
document.getElementById("frankaModeErrorRecovery").className = "label label-warning"
|
||||
document.getElementById("fixFrankaButton").className = "btn btn-default"
|
||||
}
|
||||
});
|
||||
|
||||
|
||||
// Robotiq Data
|
||||
var robotiqDataTopic = new ROSLIB.Topic({
|
||||
ros : ros,
|
||||
name : '/robotiq_ft_wrench',
|
||||
messageType : 'geometry_msgs/WrenchStamped',
|
||||
throttle_rate : 500 // 2Hz
|
||||
});
|
||||
|
||||
robotiqDataTopic.subscribe(function(message) {
|
||||
var force = message.wrench.force
|
||||
document.getElementById("robotiqX").innerHTML = force.x.toFixed(1)
|
||||
document.getElementById("robotiqY").innerHTML = force.y.toFixed(1)
|
||||
document.getElementById("robotiqZ").innerHTML = force.z.toFixed(1)
|
||||
|
||||
if ((Math.abs(force.x) > 0.5) || (Math.abs(force.y) > 0.5) || (Math.abs(force.z) > 0.5))
|
||||
{
|
||||
document.getElementById("calibrateButton").className = "btn btn-danger"
|
||||
} else {
|
||||
document.getElementById("calibrateButton").className = "btn btn-default"
|
||||
}
|
||||
});
|
||||
|
||||
////////////////////////////////////////////////////////////////
|
||||
// Services
|
||||
////////////////////////////////////////////////////////////////
|
||||
|
||||
Reference in New Issue
Block a user