Compare commits
13 Commits
| Author | SHA1 | Date | |
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dee31bc845 | ||
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9d05da0b48 | ||
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5abf44bb14 | ||
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6a464fd7b5 | ||
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a3b61ce39b | ||
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0f297aa3fa | ||
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87b3e5d5c8 | ||
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56c8423d7f | ||
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a0629b9806 | ||
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c292db1193 | ||
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d8645887a0 | ||
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67c13ef2d7 |
@@ -1,4 +1,6 @@
|
||||
<div class="status-bar" style="width:100%;height:30px;background:red;">
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||||
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||||
</div>
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||||
<div id="coordinator">
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||||
<div class="col-md-6">
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<div class="hand-panel hand-panel-left panel panel-default">
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||||
@@ -127,7 +129,7 @@
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<div class="status-list">
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<div class="commanded">
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<div class="progress">
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<div class="progress-bar-label">Commanded</div>
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||||
<!-- <div class="progress-bar-label">Commanded</div> -->
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||||
<div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedLeft" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
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</div>
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||||
<ul class="list-group list-group-horizontal text-center">
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||||
@@ -144,7 +146,7 @@
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||||
</div>
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||||
<div class="observed">
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<div class="progress">
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<div class="progress-bar-label">Observed</div>
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||||
<!-- <div class="progress-bar-label">Observed</div> -->
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||||
<div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedLeft" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">
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<span>N/A</span>
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||||
<div>
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||||
@@ -196,7 +198,7 @@
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</div>
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<div class="action-button panel-footer">
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<button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateATI')" class="btn">
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<button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq')" class="btn">
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Calibrate
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</button>
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</div>
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@@ -351,13 +353,16 @@
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</div>
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<div class="panel-body text-center">
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<div class="button-area">
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<button id="executionLoadButton" type="button" onclick="displayLoadingOptions()" class="btn btn-primary col-md-4">
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<button id="executionLoadButton" type="button" onclick="displayLoadingOptions()" class="btn btn-primary col-md-3">
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Load Recording
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</button>
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<button id="executionStartButton" type="button" onclick="playLoadedRecording()" class="btn btn-primary col-md-4">
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<button id="executionLoadButton" type="button" onclick="triggerService('/aescape/massageReady')" class="btn btn-primary col-md-3">
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Complete Body Scaling
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</button>
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<button id="executionStartButton" type="button" onclick="playLoadedRecording()" class="btn btn-primary col-md-3">
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Play Loaded Recording
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</button>
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<button id="executionStopButton" type="button" onclick="stopPlayingRecording()" class="btn btn-primary col-md-4">
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<button id="executionStopButton" type="button" onclick="stopPlayingRecording()" class="btn btn-primary col-md-3">
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Stop Playing Recording
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</button>
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</div>
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@@ -545,7 +550,7 @@
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<div class="status-list">
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<div class="commanded">
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<div class="progress">
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<div class="progress-bar-label">Commanded</div>
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<!-- <div class="progress-bar-label">Commanded</div> -->
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<div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedRight" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
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</div>
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<ul class="list-group list-group-horizontal text-center">
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@@ -562,7 +567,7 @@
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</div>
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<div class="observed">
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<div class="progress">
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<div class="progress-bar-label">Observed</div>
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<!-- <div class="progress-bar-label">Observed</div> -->
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<div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedRight" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">
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<span>N/A</span>
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<div>
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@@ -372,9 +372,11 @@ var playbackStatus = new ROSLIB.Topic({
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playbackStatus.subscribe(function(message) {
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message = JSON.parse(message.data);
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console.log("message");
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console.log(message);
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status = message.status;
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bagName = message.bag_file;
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if (status != lastPlaybackStatus) {
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if (true) {
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if (status === "playing") {
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@@ -388,7 +390,6 @@ playbackStatus.subscribe(function(message) {
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triggerService('/right/aescape/mode/activateReadyController');
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displayMessage(true, "Loaded the selected bag file!")
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}
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lastPlaybackStatus = status;
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}
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});
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@@ -577,7 +578,8 @@ function startTeachRecoding() {
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async.waterfall([
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function(callback) {
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triggerService('/left/aescape/hardware/calibrateRobotiq', false, function(err, res){
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callback(err, res);
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//callback(err, res);
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callback(null, null);
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});
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},
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function(response, callback) {
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@@ -89,11 +89,9 @@ function displayTaggingOptions(mode) {
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fileNameSelectize.clearOptions()
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// /aescape/bags/getBagList
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getBagList(function(results){
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fileNameSelectize.addOption(results.map(function(element){
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return {name : element.filename}
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}));
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fileNameSelectize.addOption(results)
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if(results[0]) {
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fileNameSelectize.setValue(results[0].filename);
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fileNameSelectize.setValue(results[0]._id);
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}
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})
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@@ -141,7 +139,7 @@ function hideTaggingOptions(mode, updateValues=false) {
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}
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var modeTag = '#' + mode + 'Tags';
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var fileNameSelector = '#' + mode + 'BagFileName';
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var bagLabelSelector = '#' + mode + 'BagFileName';
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var categorySelector = '#' + mode + 'BagCategory';
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var tagSelector = '#' + mode + 'BagTags';
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var errorSelector = '#' + mode + 'TagError';
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@@ -149,24 +147,23 @@ function hideTaggingOptions(mode, updateValues=false) {
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if(updateValues) {
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var filename = $(fileNameSelector).val();
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var bagLabel = $(bagLabelSelector).val();
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var category = $(categorySelector).val();
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var tags = $(tagSelector).val();
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var tags = $(tagSelector).val() || [];
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|
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getBagList(function(results){
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if(!(results && results[0] && results[0].filename)) {
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console.log(results);
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if(!(results && results[0] && results[0]._id)) {
|
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displayMessage(false, "Could not retrieve the last recorded bag :(");
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return;
|
||||
}
|
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bag_name = results[0].filename;
|
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updateBagMetadata(mode, bag_name, filename, category, tags, function(updateError) {
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bag_id = results[0]._id;
|
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updateBagMetadata(mode, bag_id, bagLabel, category, tags, function(updateError) {
|
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if(updateError) {
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displayMessage(flase, updateError);
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} else {
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displayMessage("Bag data saved successfully!");
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//clear selectize
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$(fileNameSelector).selectize()[0].selectize.destroy();
|
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$(bagLabelSelector).selectize()[0].selectize.destroy();
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$(categorySelector).selectize()[0].selectize.destroy();
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$(tagSelector).selectize()[0].selectize.destroy();
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}
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@@ -178,18 +175,18 @@ function hideTaggingOptions(mode, updateValues=false) {
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document.querySelector(modeTag).classList.remove('open');
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}
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||||
|
||||
function updateBagMetadata(mode, bag_name, modified_bag_name, category, tags, callback) {
|
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function updateBagMetadata(mode, bag_id, bag_label, category, tags, callback) {
|
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if(!mode) {
|
||||
return callback();
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||||
}
|
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if(!bag_name) {
|
||||
if(!bag_id) {
|
||||
return callback();
|
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}
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||||
|
||||
var toSend = {
|
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mode : mode,
|
||||
bag_name : bag_name,
|
||||
modified_bag_name : modified_bag_name,
|
||||
bag_id : bag_id,
|
||||
bag_label : bag_label,
|
||||
category : category,
|
||||
tags : tags
|
||||
}
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||||
@@ -214,32 +211,33 @@ function displayLoadingOptions() {
|
||||
//Putting this in a timeout to wait for the animation to finish completing
|
||||
setTimeout(function(){
|
||||
document.querySelector(selector).style.overflow = "visible";
|
||||
}, 420)
|
||||
}, 420) //This is not a Hitchhiker's reference. This is not a 420 reference. This value has been computed to match the speed of the larger drop down.
|
||||
|
||||
var $select = $('#loadBagList').selectize({
|
||||
valueField: 'filename',
|
||||
labelField: 'filename',
|
||||
searchField: ['filename', 'category', 'tags'],
|
||||
valueField: '_id',
|
||||
labelField: 'name',
|
||||
searchField: ['name', 'category', 'tags'],
|
||||
options: [],
|
||||
create: false,
|
||||
placeholder : "Select bag to play",
|
||||
render : {
|
||||
item: function(item, escape) {
|
||||
filename = item.filename;
|
||||
name = item.name;
|
||||
category = item.category || 'None';
|
||||
return '<div class="bag-select-element">' +
|
||||
'<div class="bag-select-element">' +
|
||||
'<span class="filename">' + escape(filename) + '</span>' +
|
||||
'<span class="filename">' + escape(name) + '</span>' +
|
||||
'<span class="category">' + ' (' + escape(category) + ') ' + '</span>' +
|
||||
'</div>' +
|
||||
'</div>';
|
||||
},
|
||||
option: function(item, escape) {
|
||||
filename = item.filename;
|
||||
|
||||
name = item.name;
|
||||
category = item.category || 'None';
|
||||
return '<div class="bag-select-element bag-option">' +
|
||||
'<div class="primary">' +
|
||||
'<div class="filename">' + escape(filename) + '</div>' +
|
||||
'<div class="filename">' + escape(name) + '</div>' +
|
||||
'<div class="category">' + escape(category) + '</div>' +
|
||||
'</div>' +
|
||||
'<div class="secondary">' +
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||||
@@ -248,7 +246,7 @@ function displayLoadingOptions() {
|
||||
return '<span class="tag label label-info">' + escape(tag) + '</span>'
|
||||
}).join(' ') +
|
||||
'</div>' +
|
||||
'<div class="timestamp">' + escape('27 Jun 10:10am') + '</div>' +
|
||||
'<div class="timestamp">' + escape(item.created_at) + '</div>' +
|
||||
'</div>' +
|
||||
'</div>';
|
||||
}
|
||||
@@ -263,6 +261,7 @@ function displayLoadingOptions() {
|
||||
var selectize = $select[0].selectize;
|
||||
selectize.clearOptions();
|
||||
//results = [{filename : 'testfile', category: 'testcategory', tags : ['testtag1', 'testtag2', 'testtag3']}, {filename : 'testfile2', category: 'testcategory2', tags : ['testtag21', 'testtag22', 'testtag23']}]
|
||||
console.log(results);
|
||||
selectize.addOption(results);
|
||||
if(results[0]) {
|
||||
selectize.setValue(results[0].filename);
|
||||
@@ -293,12 +292,10 @@ function hideLoadingOptions(loadBag) {
|
||||
singleArmMode = false
|
||||
}
|
||||
|
||||
console.log("singleArmMode");
|
||||
console.log(singleArmMode)
|
||||
if(loadBag) {
|
||||
var selectedBagName = $('#loadBagList').val();
|
||||
var selectedBagId = $('#loadBagList').val();
|
||||
disableUI();
|
||||
loadSelectedBagFile(selectedBagName, singleArmMode, function(updateError){
|
||||
loadSelectedBagFile(selectedBagId, singleArmMode, function(updateError){
|
||||
// if(updateError) {
|
||||
// displayMessage(false, "Something went wrong in the backend while fetching the bag files :(")
|
||||
// } else {
|
||||
@@ -314,9 +311,9 @@ function hideLoadingOptions(loadBag) {
|
||||
|
||||
|
||||
|
||||
function loadSelectedBagFile(selectedBagName, singleArmMode, callback) {
|
||||
function loadSelectedBagFile(selectedBagId, singleArmMode, callback) {
|
||||
var toSend = {
|
||||
bag_name : selectedBagName,
|
||||
bag_id : selectedBagId,
|
||||
single_arm : singleArmMode
|
||||
}
|
||||
|
||||
|
||||
636
client/app/components/coordinator/play.html
Normal file
636
client/app/components/coordinator/play.html
Normal file
@@ -0,0 +1,636 @@
|
||||
|
||||
<div id="coordinator">
|
||||
<div class="col-md-6">
|
||||
<div class="hand-panel hand-panel-left panel panel-default">
|
||||
<div class="panel-heading">
|
||||
<i class="far fa-2x fa-hand-point-left"></i>
|
||||
Left Arm
|
||||
</div>
|
||||
<div class="panel-body">
|
||||
<div class="status-bar">
|
||||
<div class="status-container">
|
||||
<div class="safety-monitor panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Safety Monitor
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<ul class="list-group list-group-horizontal">
|
||||
<li id="left_safetyRunning" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Running</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_safetyStopped" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Stopped</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="action-button panel-footer">
|
||||
<button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn">
|
||||
Activate
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="status-container">
|
||||
<div class="franka panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Franka Arm
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<ul class="list-group list-group-horizontal">
|
||||
<li id="left_frankaModeOther" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Other</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeIdle" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Idle</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeMove" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Move</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeGuiding" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Guiding</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeReflex" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Reflex</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeUserStopped" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>User Stopped</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeErrorRecovery" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Automatic Error Recovery</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="action-button panel-footer">
|
||||
<button id="left_fixFrankaButton" type="button" onclick="triggerService('/left/aescape/hardware/resetFrankaError')" class="btn">
|
||||
Fix Errors
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="status-container">
|
||||
<div class="franka-force force-bar panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Franka Force
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<div class="commanded">
|
||||
<div class="progress">
|
||||
<!-- <div class="progress-bar-label">Commanded</div> -->
|
||||
<div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedLeft" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
|
||||
</div>
|
||||
<ul class="list-group list-group-horizontal text-center">
|
||||
<li class="list-group-item force-value">
|
||||
<h4>X: <span id="frankaForceLeftCommandedX">0.0</span></h4>
|
||||
</li>
|
||||
<li class="list-group-item force-value">
|
||||
<h4>Y: <span id="frankaForceLeftCommandedY">0.0</span></h4>
|
||||
</li>
|
||||
<li class="list-group-item force-value">
|
||||
<h4>Z: <span id="frankaForceLeftCommandedZ">0.0</span></h4>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="observed">
|
||||
<div class="progress">
|
||||
<!-- <div class="progress-bar-label">Observed</div> -->
|
||||
<div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedLeft" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">
|
||||
<span>N/A</span>
|
||||
<div>
|
||||
<span>Observed</span>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<ul class="list-group list-group-horizontal text-center">
|
||||
<li class="list-group-item force-value">
|
||||
<h4>X: <span id="frankaForceLeftObservedX">0.0</span></h4>
|
||||
</li>
|
||||
<li class="list-group-item force-value">
|
||||
<h4>Y: <span id="frankaForceLeftObservedY">0.0</span></h4>
|
||||
</li>
|
||||
<li class="list-group-item force-value">
|
||||
<h4>Z: <span id="frankaForceLeftObservedZ">0.0</span></h4>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-button panel-footer">
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="control-container col-md-6">
|
||||
<div class="control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
EEF Configuration
|
||||
<i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the end-effector attached to the left arm."></i>
|
||||
</div>
|
||||
|
||||
<div class="panel-body text-center">
|
||||
<div class="button-area">
|
||||
<button type="button" onclick="setEEFConfig('left', 'teach')" active class="btn btn-primary col-md-6">
|
||||
Recording EEF
|
||||
</button>
|
||||
<button type="button" onclick="setEEFConfig('left', 'play')" class="btn btn-primary col-md-6">
|
||||
Massage EEF
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="message">
|
||||
<!--You must be in "Stopped Mode" to change the EEF configuration! -->
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="control-container col-md-6">
|
||||
<div id="left-operation-mode" class="control-card-six control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Operation Mode
|
||||
<i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the operation mode of the left arm."></i>
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="button-area">
|
||||
<button id="left_teachingModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateTeachingController')" class="btn btn-primary col-md-4">
|
||||
Teaching
|
||||
</button>
|
||||
<button id="left_executionModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController')" class="btn btn-primary col-md-4">
|
||||
Massage
|
||||
</button>
|
||||
<button id="left_readyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
|
||||
Ready
|
||||
</button>
|
||||
<button id="left_standbyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateStandbyController')" class="btn btn-primary col-md-4">
|
||||
Standby
|
||||
</button>
|
||||
<button id="left_stoppedModeButton" type="button" onclick="triggerService('/left/aescape/mode/stopControllers')" class="btn btn-primary col-md-4">
|
||||
Stopped
|
||||
</button>
|
||||
</div>
|
||||
<!--
|
||||
<div class="col-md-6">
|
||||
Safety Monitor Status:
|
||||
<div class="row-md-3">
|
||||
<h4><span id="left_safetyRunning" class="label label-default">Running</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="left_safetyStopped" class="label label-default">Stopped</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn btn-sm">
|
||||
Activate Safety Monitor
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
-->
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="message">
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<!--
|
||||
<div class="control-container col-md-6">
|
||||
<div class="control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Robotiq
|
||||
<i class="fas fa-info-circle"></i>
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="progress" id="robotiqForce">
|
||||
<div class="progress-bar bg-success" role="progressbar" id="robotiqForceBar" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
|
||||
</div>
|
||||
<div class="button-area">
|
||||
Current Robotiq Values:
|
||||
<h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
|
||||
<h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
|
||||
<h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="button">
|
||||
<button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
|
||||
Calibrate Robotiq
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
-->
|
||||
<div class="control-container play-mode-operations col-md-10">
|
||||
<div class="control-card panel panel-default execution-control">
|
||||
<div class="panel-heading">
|
||||
Play Mode Operations
|
||||
<i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This helps selecting and playback of recorded massages!"></i>
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="button-area">
|
||||
<button id="executionLoadButton" type="button" onclick="displayLoadingOptions()" class="btn btn-primary col-md-3">
|
||||
Load Recording
|
||||
</button>
|
||||
<button id="executionLoadButton" type="button" onclick="triggerService('/aescape/massageReady')" class="btn btn-primary col-md-3">
|
||||
Complete Body Scaling
|
||||
</button>
|
||||
<button id="executionStartButton" type="button" onclick="playLoadedRecording()" class="btn btn-primary col-md-3">
|
||||
Play Loaded Recording
|
||||
</button>
|
||||
<button id="executionStopButton" type="button" onclick="stopPlayingRecording()" class="btn btn-primary col-md-3">
|
||||
Stop Playing Recording
|
||||
</button>
|
||||
</div>
|
||||
<div>
|
||||
<!-- <div class="row-md-4">
|
||||
<<div class="col-md-3"> -->
|
||||
<!-- Bagfile name must not start with "/"
|
||||
<button class="btn btn-primary" type="button" onclick="updateRecordingsList()">
|
||||
Refresh List
|
||||
</button>
|
||||
</div> -->
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="message" id="ExecutionStatusLabel">
|
||||
<!-- TO DO: Show errors in bag manager -->
|
||||
</div>
|
||||
<!-- TO DO: Bagfile name must not start with "/" -->
|
||||
<div class="slider-options tagging-options" id="playTags">
|
||||
<div class="col-md-10">
|
||||
<!--full with naming box search:no new:yes-->
|
||||
<select id="playBagFileName" placeholder="Filename"></select>
|
||||
<!--full width category box search:yes new:yes-->
|
||||
<select id="playBagCategory" placeholder="Category"></select>
|
||||
<!--full width tags box search:yes new:yes-->
|
||||
<select id="playBagTags" placeholder="Tags"></select>
|
||||
</div>
|
||||
<div class="col-md-2">
|
||||
<button class="btn btn-primary" onclick="hideTaggingOptions('play', true)">Tag</button>
|
||||
<button class="btn btn-primary" onclick="hideTaggingOptions('play', false)">Cancel</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="slider-options loading-options" id="loadBags">
|
||||
<div class="col-md-10">
|
||||
<div class="dropdown">
|
||||
<div>
|
||||
<select id="loadBagList" placeholder="Select bag to play"></select>
|
||||
<select id="armMode"></select>
|
||||
</div>
|
||||
<!-- <i class="fas fa-sync-alt" onclick="updateRecordingsList()"></i> -->
|
||||
</div>
|
||||
</div>
|
||||
<div class="col-md-2">
|
||||
<!-- <i class="fas fa-check-circle" onclick="hideLoadingOptions(true)"></i> -->
|
||||
<button class="btn btn-primary" onclick="hideLoadingOptions(true)">Load</button>
|
||||
<button class="btn btn-primary" onclick="hideLoadingOptions(false)">Cancel</button>
|
||||
</div>
|
||||
</div>
|
||||
<div id="playTagError" class="col-md-10 error"></div>
|
||||
<div class="clearfix"></div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="panel-footer">
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="col-md-6">
|
||||
<div class="hand-panel hand-panel-right panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Right Arm
|
||||
<i class="far fa-2x fa-hand-point-right"></i>
|
||||
</div>
|
||||
<div class="panel-body">
|
||||
<div class="status-bar">
|
||||
<div class="status-container">
|
||||
<div class="safety-monitor panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Safety Monitor
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<ul class="list-group list-group-horizontal">
|
||||
<li id="right_safetyRunning" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Running</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_safetyStopped" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Stopped</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="action-button panel-footer">
|
||||
<button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn">
|
||||
Activate
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="status-container">
|
||||
<div class="franka panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Franka Arm
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<ul class="list-group list-group-horizontal">
|
||||
<li id="right_frankaModeOther" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Other</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeIdle" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Idle</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeMove" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Move</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeGuiding" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Guiding</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeReflex" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Reflex</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeUserStopped" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>User Stopped</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeErrorRecovery" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Automatic Error Recovery</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="action-button panel-footer">
|
||||
<button id="right_fixFrankaButton" type="button" onclick="triggerService('/right/aescape/hardware/resetFrankaError')" class="btn">
|
||||
Fix Errors
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="status-container">
|
||||
<div class="franka-force force-bar panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Franka Force
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<div class="commanded">
|
||||
<div class="progress">
|
||||
<!-- <div class="progress-bar-label">Commanded</div> -->
|
||||
<div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedRight" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
|
||||
</div>
|
||||
<ul class="list-group list-group-horizontal text-center">
|
||||
<li class="list-group-item force-value">
|
||||
<h4>X: <span id="frankaForceRightCommandedX">0.0</span></h4>
|
||||
</li>
|
||||
<li class="list-group-item force-value">
|
||||
<h4>Y: <span id="frankaForceRightCommandedY">0.0</span></h4>
|
||||
</li>
|
||||
<li class="list-group-item force-value">
|
||||
<h4>Z: <span id="frankaForceRightCommandedZ">0.0</span></h4>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="observed">
|
||||
<div class="progress">
|
||||
<!-- <div class="progress-bar-label">Observed</div> -->
|
||||
<div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedRight" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">
|
||||
<span>N/A</span>
|
||||
<div>
|
||||
<span>Observed</span>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<ul class="list-group list-group-horizontal text-center">
|
||||
<li class="list-group-item force-value">
|
||||
<h4>X: <span id="frankaForceRightObservedX">0.0</span></h4>
|
||||
</li>
|
||||
<li class="list-group-item force-value">
|
||||
<h4>Y: <span id="frankaForceRightObservedY">0.0</span></h4>
|
||||
</li>
|
||||
<li class="list-group-item force-value">
|
||||
<h4>Z: <span id="frankaForceRightObservedZ">0.0</span></h4>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-button panel-footer">
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="control-container col-md-6">
|
||||
<div class="control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
EEF Configuration
|
||||
<i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the end-effector attached to the right arm."></i>
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="button-area">
|
||||
<button type="button" onclick="setEEFConfig('right', 'teach')" class="btn btn-primary col-md-6">
|
||||
Recording EEF
|
||||
</button>
|
||||
<button type="button" onclick="setEEFConfig('right', 'play')" class="btn btn-primary col-md-6">
|
||||
Massage EEF
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="message">
|
||||
<!--You must be in "Stopped Mode" to change the EEF configuration! -->
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="control-container col-md-6">
|
||||
<div id="right-operation-mode" class="control-card-six control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Operation Mode
|
||||
<i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-placement="bottom" data-content="This selects the operation mode of the right arm."></i>
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="button-area">
|
||||
<button id="right_teachingModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateTeachingController')" class="btn btn-primary col-md-4">
|
||||
Teaching
|
||||
</button>
|
||||
<button id="right_executionModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateExecutionController')" class="btn btn-primary col-md-4">
|
||||
Massage
|
||||
</button>
|
||||
<button id="right_readyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
|
||||
Ready
|
||||
</button>
|
||||
<button id="right_standbyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateStandbyController')" class="btn btn-primary col-md-4">
|
||||
Standby
|
||||
</button>
|
||||
<button id="right_stoppedModeButton" type="button" onclick="triggerService('/right/aescape/mode/stopControllers')" class="btn btn-primary col-md-4">
|
||||
Stopped
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="message">
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</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 class="panel-footer">
|
||||
|
||||
</div>
|
||||
|
||||
</div>
|
||||
<button type="button" onclick="triggerService('/aescape/safety_activate')" class="safety-button danger btn">
|
||||
Stop Now!
|
||||
</button>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- <div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Execution Recording Operations
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<button id="executionStartButton" type="button" onclick="triggerService('/startExecutionRecording')" class="btn btn-primary">
|
||||
Start Recording Execution
|
||||
</button>
|
||||
<button id="executionRecordingStopButton" type="button" onclick="triggerService('/stopExecutionRecording')" class="btn btn-primary">
|
||||
Stop Recording Execution
|
||||
</button>
|
||||
</div>
|
||||
</div> -->
|
||||
529
client/app/components/coordinator/teach.html
Normal file
529
client/app/components/coordinator/teach.html
Normal file
@@ -0,0 +1,529 @@
|
||||
|
||||
<div id="coordinator">
|
||||
<div class="col-md-6">
|
||||
<div class="hand-panel hand-panel-left panel panel-default">
|
||||
<div class="panel-heading">
|
||||
<i class="far fa-2x fa-hand-point-left"></i>
|
||||
Left Arm
|
||||
</div>
|
||||
<div class="panel-body">
|
||||
<div class="status-bar">
|
||||
<div class="status-container">
|
||||
<div class="safety-monitor panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Safety Monitor
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<ul class="list-group list-group-horizontal">
|
||||
<li id="left_safetyRunning" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Running</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_safetyStopped" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Stopped</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="action-button panel-footer">
|
||||
<button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn">
|
||||
Activate
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="status-container">
|
||||
<div class="franka panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Franka Arm
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<ul class="list-group list-group-horizontal">
|
||||
<li id="left_frankaModeOther" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Other</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeIdle" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Idle</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeMove" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Move</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeGuiding" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Guiding</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeReflex" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Reflex</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeUserStopped" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>User Stopped</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="left_frankaModeErrorRecovery" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Automatic Error Recovery</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="action-button panel-footer">
|
||||
<button id="left_fixFrankaButton" type="button" onclick="triggerService('/left/aescape/hardware/resetFrankaError')" class="btn">
|
||||
Fix Errors
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="status-container">
|
||||
<div class="robotiq force-bar panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Robotiq
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<div class="progress" id="robotiqForce">
|
||||
<div class="progress-bar bg-success" role="progressbar" id="robotiqForceBar" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
|
||||
</div>
|
||||
<ul class="list-group list-group-horizontal text-center">
|
||||
<li class="list-group-item force-value">
|
||||
<h4>X: <span id="robotiqX">0.0</span></h4>
|
||||
</li>
|
||||
<li class="list-group-item force-value">
|
||||
<h4>Y: <span id="robotiqY">0.0</span></h4>
|
||||
</li>
|
||||
<li class="list-group-item force-value">
|
||||
<h4>Z: <span id="robotiqZ">0.0</span></h4>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="action-button panel-footer">
|
||||
<button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq')" class="btn">
|
||||
Calibrate
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="control-container col-md-6">
|
||||
<div class="control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
EEF Configuration
|
||||
<i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the end-effector attached to the left arm."></i>
|
||||
</div>
|
||||
|
||||
<div class="panel-body text-center">
|
||||
<div class="button-area">
|
||||
<button type="button" onclick="setEEFConfig('left', 'teach')" active class="btn btn-primary col-md-6">
|
||||
Recording EEF
|
||||
</button>
|
||||
<button type="button" onclick="setEEFConfig('left', 'play')" class="btn btn-primary col-md-6">
|
||||
Massage EEF
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="message">
|
||||
<!--You must be in "Stopped Mode" to change the EEF configuration! -->
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="control-container col-md-6">
|
||||
<div id="left-operation-mode" class="control-card-six control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Operation Mode
|
||||
<i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the operation mode of the left arm."></i>
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="button-area">
|
||||
<button id="left_teachingModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateTeachingController')" class="btn btn-primary col-md-4">
|
||||
Teaching
|
||||
</button>
|
||||
<button id="left_executionModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController')" class="btn btn-primary col-md-4">
|
||||
Massage
|
||||
</button>
|
||||
<button id="left_readyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
|
||||
Ready
|
||||
</button>
|
||||
<button id="left_standbyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateStandbyController')" class="btn btn-primary col-md-4">
|
||||
Standby
|
||||
</button>
|
||||
<button id="left_stoppedModeButton" type="button" onclick="triggerService('/left/aescape/mode/stopControllers')" class="btn btn-primary col-md-4">
|
||||
Stopped
|
||||
</button>
|
||||
</div>
|
||||
<!--
|
||||
<div class="col-md-6">
|
||||
Safety Monitor Status:
|
||||
<div class="row-md-3">
|
||||
<h4><span id="left_safetyRunning" class="label label-default">Running</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<h4><span id="left_safetyStopped" class="label label-default">Stopped</span></h4>
|
||||
</div>
|
||||
<div class="row-md-3">
|
||||
<button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn btn-sm">
|
||||
Activate Safety Monitor
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
-->
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="message">
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<!--
|
||||
<div class="control-container col-md-6">
|
||||
<div class="control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Robotiq
|
||||
<i class="fas fa-info-circle"></i>
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="progress" id="robotiqForce">
|
||||
<div class="progress-bar bg-success" role="progressbar" id="robotiqForceBar" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
|
||||
</div>
|
||||
<div class="button-area">
|
||||
Current Robotiq Values:
|
||||
<h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
|
||||
<h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
|
||||
<h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="button">
|
||||
<button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
|
||||
Calibrate Robotiq
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
-->
|
||||
<div class="control-container teaching-mode-operations col-md-7">
|
||||
<div class="control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Teaching Mode Operations
|
||||
<i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This helps recoding a new massage!"></i>
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="button-area">
|
||||
<button id="recordingStartButton" type="button" onclick="startTeachRecoding()" class="btn btn-primary col-md-6">
|
||||
Start Recording
|
||||
</button>
|
||||
<button id="recordingStopButton" type="button" onclick="stopTeachRecording()" class="btn btn-primary col-md-6">
|
||||
Stop Recording
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div id="RecordingStatusLabel" class="message">
|
||||
<!-- TO DO: Show errors in bag manager -->
|
||||
</div>
|
||||
<div class="slider-options tagging-options" id="teachTags">
|
||||
<div class="col-md-10">
|
||||
<!--full with naming box search:no new:yes-->
|
||||
<select id="teachBagFileName" placeholder="Filename"></select>
|
||||
<!--full width category box search:yes new:yes-->
|
||||
<select id="teachBagCategory" placeholder="Category"></select>
|
||||
<!--full width tags box search:yes new:yes-->
|
||||
<select id="teachBagTags" placeholder="Tags"></select>
|
||||
</div>
|
||||
<div class="col-md-2">
|
||||
<button class="btn btn-primary" onclick="hideTaggingOptions('teach', true)">Tag</button>
|
||||
<button class="btn btn-primary" onclick="hideTaggingOptions('teach', false)">Cancel</button>
|
||||
</div>
|
||||
</div>
|
||||
<div id="teachTagError" class="col-md-10 error"></div>
|
||||
<div class="clearfix"></div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="panel-footer">
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="col-md-6">
|
||||
<div class="hand-panel hand-panel-right panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Right Arm
|
||||
<i class="far fa-2x fa-hand-point-right"></i>
|
||||
</div>
|
||||
<div class="panel-body">
|
||||
<div class="status-bar">
|
||||
<div class="status-container">
|
||||
<div class="safety-monitor panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Safety Monitor
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<ul class="list-group list-group-horizontal">
|
||||
<li id="right_safetyRunning" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Running</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_safetyStopped" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Stopped</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="action-button panel-footer">
|
||||
<button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn">
|
||||
Activate
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="status-container">
|
||||
<div class="franka panel panel-default panel-horizontal">
|
||||
<div class="panel-heading">
|
||||
Franka Arm
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="status-list">
|
||||
<ul class="list-group list-group-horizontal">
|
||||
<li id="right_frankaModeOther" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Other</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeIdle" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Idle</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeMove" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Move</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeGuiding" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Guiding</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeReflex" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Reflex</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeUserStopped" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>User Stopped</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
<li id="right_frankaModeErrorRecovery" class="list-group-item">
|
||||
<div class="pretty p-default p-round">
|
||||
<input type="checkbox" class="disabled"/>
|
||||
<div class="state p-success-o">
|
||||
<label>Automatic Error Recovery</label>
|
||||
</div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="action-button panel-footer">
|
||||
<button id="right_fixFrankaButton" type="button" onclick="triggerService('/right/aescape/hardware/resetFrankaError')" class="btn">
|
||||
Fix Errors
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="control-container col-md-6">
|
||||
<div class="control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
EEF Configuration
|
||||
<i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the end-effector attached to the right arm."></i>
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="button-area">
|
||||
<button type="button" onclick="setEEFConfig('right', 'teach')" class="btn btn-primary col-md-6">
|
||||
Recording EEF
|
||||
</button>
|
||||
<button type="button" onclick="setEEFConfig('right', 'play')" class="btn btn-primary col-md-6">
|
||||
Massage EEF
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="message">
|
||||
<!--You must be in "Stopped Mode" to change the EEF configuration! -->
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="control-container col-md-6">
|
||||
<div id="right-operation-mode" class="control-card-six control-card panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Operation Mode
|
||||
<i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-placement="bottom" data-content="This selects the operation mode of the right arm."></i>
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<div class="button-area">
|
||||
<button id="right_teachingModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateTeachingController')" class="btn btn-primary col-md-4">
|
||||
Teaching
|
||||
</button>
|
||||
<button id="right_executionModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateExecutionController')" class="btn btn-primary col-md-4">
|
||||
Massage
|
||||
</button>
|
||||
<button id="right_readyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
|
||||
Ready
|
||||
</button>
|
||||
<button id="right_standbyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateStandbyController')" class="btn btn-primary col-md-4">
|
||||
Standby
|
||||
</button>
|
||||
<button id="right_stoppedModeButton" type="button" onclick="triggerService('/right/aescape/mode/stopControllers')" class="btn btn-primary col-md-4">
|
||||
Stopped
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
<div class="action-area panel-footer">
|
||||
<div class="message">
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</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 class="panel-footer">
|
||||
|
||||
</div>
|
||||
|
||||
</div>
|
||||
<button type="button" onclick="triggerService('/aescape/safety_activate')" class="safety-button danger btn">
|
||||
Stop Now!
|
||||
</button>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- <div class="panel panel-default">
|
||||
<div class="panel-heading">
|
||||
Execution Recording Operations
|
||||
</div>
|
||||
<div class="panel-body text-center">
|
||||
<button id="executionStartButton" type="button" onclick="triggerService('/startExecutionRecording')" class="btn btn-primary">
|
||||
Start Recording Execution
|
||||
</button>
|
||||
<button id="executionRecordingStopButton" type="button" onclick="triggerService('/stopExecutionRecording')" class="btn btn-primary">
|
||||
Stop Recording Execution
|
||||
</button>
|
||||
</div>
|
||||
</div> -->
|
||||
@@ -480,6 +480,11 @@ html, body {
|
||||
background : #3671F9;
|
||||
width: 100%;
|
||||
margin-bottom: 10px;
|
||||
height: 30px;
|
||||
}
|
||||
|
||||
.slider-options .col-md-2 {
|
||||
padding: 0px;
|
||||
}
|
||||
|
||||
.progress-bar {
|
||||
|
||||
@@ -66,15 +66,7 @@ function disableUI() {
|
||||
}
|
||||
document.querySelector('.dropdown').classList.add("disabled");
|
||||
|
||||
document.querySelectorAll('.force-bar .force-value span').forEach(function(element){
|
||||
element.innerHTML = 0.0
|
||||
});
|
||||
|
||||
document.querySelectorAll('.force-bar .progress-bar').forEach(function(element){
|
||||
element.style.width = totalForcePercent + "%";
|
||||
element.innerHTML = totalForce + " N";
|
||||
element.setAttribute('aria-valuenow', totalForce);
|
||||
});
|
||||
|
||||
|
||||
} catch(err) {
|
||||
console.log(err);
|
||||
|
||||
@@ -38,11 +38,12 @@
|
||||
}
|
||||
</script>
|
||||
|
||||
<!-- TO DO: Use requirejs to reliably load these all the dependancies in order -->
|
||||
<script>
|
||||
$(function(){
|
||||
$("#coordinatorContent").load("app/components/coordinator/coordinator.html");
|
||||
});
|
||||
$(function(){
|
||||
$("#teachContent").load("app/components/coordinator/teach.html");
|
||||
$("#playContent").load("app/components/coordinator/play.html");
|
||||
$("#connectorContent").load("app/components/connect/connect.html");
|
||||
});
|
||||
</script>
|
||||
@@ -99,6 +100,16 @@
|
||||
Coordinator
|
||||
</a>
|
||||
</li>
|
||||
<li>
|
||||
<a href="#Teach" data-toggle="tab">
|
||||
Teach
|
||||
</a>
|
||||
</li>
|
||||
<li>
|
||||
<a href="#Play" data-toggle="tab">
|
||||
Play
|
||||
</a>
|
||||
</li>
|
||||
<li>
|
||||
<a target="_blank" href="vision/vision.html">
|
||||
Vision
|
||||
@@ -126,6 +137,12 @@
|
||||
<div class="tab-pane active" id="Coordinator">
|
||||
<div id="coordinatorContent"></div>
|
||||
</div>
|
||||
<div class="tab-pane" id="Teach">
|
||||
<div id="teachContent"></div>
|
||||
</div>
|
||||
<div class="tab-pane" id="Play">
|
||||
<div id="playContent"></div>
|
||||
</div>
|
||||
<!-- <div class="tab-pane" id="Vision">
|
||||
<div id="visionContent"></div>
|
||||
</div> -->
|
||||
|
||||
Reference in New Issue
Block a user