public void submitAll(List<Task> tasks) { for (Task task : tasks) { submitSingleTaskStage(task); } }
public void submitAll(T executorKey, List<Task> tasks) { for (Task task : tasks) { submitTaskForPallelPipesStage(executorKey, task); } }
@Override public void onBehaviorAborted() { pipeLine.clearAll(); }
private void submitFootstepPose(boolean parallelize, RobotSide robotSide, FramePose3D desiredFootstepPose) { FramePose3D footPose = new FramePose3D(desiredFootstepPose); FootstepTask footstepTask = new FootstepTask(fullRobotModel, robotSide, footstepListBehavior, footPose); if (parallelize) pipeLine.submitTaskForPallelPipesStage(footstepListBehavior, footstepTask); else pipeLine.submitSingleTaskStage(footstepTask); }
private void setUpPipeline() pipeLine.clearAll(); BehaviorAction setStanceTask = new BehaviorAction(footListBehavior) pipeLine.requestNewStage(); pipeLine.submitSingleTaskStage(setStanceTask2); pipeLine.requestNewStage(); pipeLine.submitSingleTaskStage(movePelvisTask); pipeLine.requestNewStage(); pipeLine.submitTaskForPallelPipesStage(rightArmBehavior, moveRightPreTask); pipeLine.submitTaskForPallelPipesStage(rightArmBehavior, moveLeftPreTask); pipeLine.requestNewStage(); pipeLine.submitTaskForPallelPipesStage(leftArmBehavior, moveLeftFinalTask); pipeLine.submitTaskForPallelPipesStage(leftArmBehavior, moveRightFinalTask); pipeLine.requestNewStage(); pipeLine.submitSingleTaskStage(movePelvisTask2);
private void setupPipeline() { publishTextToSpeack("Resetting Robot Pose"); pipeLine.clearAll(); //RESET BODY POSITIONS ******************************************* GoHomeMessage goHomeChestMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.CHEST, 2); GoHomeTask goHomeChestTask = new GoHomeTask(goHomeChestMessage, chestGoHomeBehavior); GoHomeMessage goHomepelvisMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.PELVIS, 2); GoHomeTask goHomePelvisTask = new GoHomeTask(goHomepelvisMessage, pelvisGoHomeBehavior); GoHomeMessage goHomeLeftArmMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.ARM, RobotSide.LEFT, 2); GoHomeTask goHomeLeftArmTask = new GoHomeTask(goHomeLeftArmMessage, armGoHomeLeftBehavior); GoHomeMessage goHomeRightArmMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.ARM, RobotSide.RIGHT, 2); GoHomeTask goHomeRightArmTask = new GoHomeTask(goHomeRightArmMessage, armGoHomeRightBehavior); pipeLine.requestNewStage(); if (rightArm) pipeLine.submitSingleTaskStage(goHomeRightArmTask); if (leftArm) pipeLine.submitSingleTaskStage(goHomeLeftArmTask); if (chest) pipeLine.submitSingleTaskStage(goHomeChestTask); if (pelvis) pipeLine.submitSingleTaskStage(goHomePelvisTask); }
private void setupPipeline() pipeLine.clearAll(); BehaviorAction resetRobot = new BehaviorAction(resetRobotBehavior); pipeLine.submitSingleTaskStage(moveHandToApproachPoint); pipeLine.submitSingleTaskStage(moveHandCloseToValve); pipeLine.submitSingleTaskStage(resetRobot);
@Override public void doControl() { pipeLine.doControl(); }
@Override public boolean isDone() { return pipeLine.isDone(); }
private void flexUp() { submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_PALMS_UP); pipeLine.requestNewStage(); submitSymmetricHumanoidArmPose(HumanoidArmPose.FLEX_UP); pipeLine.requestNewStage(); submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_PALMS_UP); pipeLine.requestNewStage(); }
private void submitFootstepPose(boolean parallelize, RobotSide robotSide, FramePose desiredFootstepPose) { FramePose footPose = new FramePose(desiredFootstepPose); FootstepTask footstepTask = new FootstepTask(fullRobotModel, robotSide, footstepListBehavior, footPose); if (parallelize) pipeLine.submitTaskForPallelPipesStage(footstepListBehavior, footstepTask); else pipeLine.submitSingleTaskStage(footstepTask); }
private void setupPipeline() { TextToSpeechPacket p1 = new TextToSpeechPacket("Resetting Robot Pose"); sendPacket(p1); pipeLine.clearAll(); //RESET BODY POSITIONS ******************************************* GoHomeMessage goHomeChestMessage = new GoHomeMessage(BodyPart.CHEST, 2); GoHomeTask goHomeChestTask = new GoHomeTask(goHomeChestMessage, chestGoHomeBehavior); GoHomeMessage goHomepelvisMessage = new GoHomeMessage(BodyPart.PELVIS, 2); GoHomeTask goHomePelvisTask = new GoHomeTask(goHomepelvisMessage, pelvisGoHomeBehavior); GoHomeMessage goHomeLeftArmMessage = new GoHomeMessage(BodyPart.ARM, RobotSide.LEFT, 2); GoHomeTask goHomeLeftArmTask = new GoHomeTask(goHomeLeftArmMessage, armGoHomeLeftBehavior); GoHomeMessage goHomeRightArmMessage = new GoHomeMessage(BodyPart.ARM, RobotSide.RIGHT, 2); GoHomeTask goHomeRightArmTask = new GoHomeTask(goHomeRightArmMessage, armGoHomeRightBehavior); pipeLine.requestNewStage(); if (rightArm) pipeLine.submitSingleTaskStage(goHomeRightArmTask); if (leftArm) pipeLine.submitSingleTaskStage(goHomeLeftArmTask); if (chest) pipeLine.submitSingleTaskStage(goHomeChestTask); if (pelvis) pipeLine.submitSingleTaskStage(goHomePelvisTask); }
private void setupPipeline() pipeLine.clearAll(); BehaviorAction<TurnValveBehaviorState> resetRobot = new BehaviorAction<TurnValveBehaviorState>(TurnValveBehaviorState.RESET_ROBOT, resetRobotBehavior); pipeLine.submitSingleTaskStage(moveHandToApproachPoint); pipeLine.submitSingleTaskStage(moveHandCloseToValve); pipeLine.submitSingleTaskStage(resetRobot);
@Override public void doControl() { pipeLine.doControl(); }
@Override public boolean isDone() { return pipeLine.isDone(); }
private void flexUp() { submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_PALMS_UP); pipeLine.requestNewStage(); submitSymmetricHumanoidArmPose(HumanoidArmPose.FLEX_UP); pipeLine.requestNewStage(); submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_PALMS_UP); pipeLine.requestNewStage(); }
private void submitChestHomeCommand(boolean parallelize) { GoHomeMessage goHomeMessage = HumanoidMessageTools.createGoHomeMessage(HumanoidBodyPart.CHEST, trajectoryTime.getDoubleValue()); GoHomeTask goHomeTask = new GoHomeTask(goHomeMessage, chestGoHomeBehavior); if (parallelize) { pipeLine.submitTaskForPallelPipesStage(chestGoHomeBehavior, goHomeTask); pipeLine.submitTaskForPallelPipesStage(chestGoHomeBehavior, createSleepTask(sleepTimeBetweenPoses.getDoubleValue())); } else { pipeLine.submitSingleTaskStage(goHomeTask); pipeLine.submitSingleTaskStage(createSleepTask(sleepTimeBetweenPoses.getDoubleValue())); } }
private void setupPipeline() pipeLine.clearAll(); pipeLine.requestNewStage(); pipeLine.submitSingleTaskStage(wakeup); pipeLine.submitSingleTaskStage(requestPlan); pipeLine.submitSingleTaskStage(waitForPlan); pipeLine.submitSingleTaskStage(processPlan);
pipeLine.clearAll(); pipeLine.submitSingleTaskStage(enableLidarTask); pipeLine.submitSingleTaskStage(setLidarMediumRangeTask); pipeLine.submitSingleTaskStage(lookDownAction);
public void submitAll(List<Task> tasks) { for (Task task : tasks) { submitSingleTaskStage(task); } }