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Locking a robot in the vewer

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MattTaylor

Locking a robot in the vewer

Hi All,

I'm working on a quick demo where I have loaded two robots into a scene. One robot is going to be controlled by the user and the other will be controlled by a forward predictor to check for collisions ahead of time.

Is there a way I can 'lock' one robot in the viewer so that the user cannot click on it or change it's values?

Thanks,
Matt

Rosen Diankov

Re: Locking a robot in the vewer

Administrator

sure, you can temporary set the joint limits to be the exact values you want the robot to have:

robot.SetDOFLimits(lower,upper)

rosen,

2013/8/19 MattTaylor <[hidden email]>

Hi All,

I'm working on a quick demo where I have loaded two robots into a scene. One
robot is going to be controlled by the user and the other will be controlled
by a forward predictor to check for collisions ahead of time.

Is there a way I can 'lock' one robot in the viewer so that the user cannot
click on it or change it's values?

Thanks,
Matt

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MattTaylor

Re: Locking a robot in the vewer

Thanks Rosen.

That works great for locking the position.

Is there a way to disable user interaction from the viewer all together for a KinBody or robot? Most of the time the models are aligned together, and I'm finding that sometimes a mouse click selects the locked one instead of the movable one.

It's not a big problem, but if it's possible it would be useful to know.

Thanks,
Matt

Rosen Diankov

Re: Locking a robot in the vewer

Administrator

you can always draw a silhouette of the robot using the Environment drawtrimesh and plotting functions, and make the robot you don't want users touching invisible (using SetVisible(False))

other than that, it's not possible...

2013/8/19 MattTaylor <[hidden email]>

Thanks Rosen.

That works great for locking the position.

Is there a way to disable user interaction from the viewer all together for
a KinBody or robot? Most of the time the models are aligned together, and
I'm finding that sometimes a mouse click selects the locked one instead of
the movable one.

It's not a big problem, but if it's possible it would be useful to know.

Thanks,
Matt

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MattTaylor

Re: Locking a robot in the vewer

Ok, great, I'll keep that in mind for the future.

Right now I'm only using the viewer to quickly demo ideas for myself and the team, so I can live with the viewer as is.

Thanks,
Matt