From 94cee5293ded20b06e8304334a5f43540b04bfa0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carsten=20M=C3=BCller?= Date: Tue, 29 Jan 2019 22:47:44 +0100 Subject: [PATCH 1/6] Stuff for viewer --- examples/apps/3d_viewer/3d_viewer.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/examples/apps/3d_viewer/3d_viewer.py b/examples/apps/3d_viewer/3d_viewer.py index 125158b..ca2061b 100755 --- a/examples/apps/3d_viewer/3d_viewer.py +++ b/examples/apps/3d_viewer/3d_viewer.py @@ -33,7 +33,8 @@ def main(): show_3d_viewer=True, enable_face_detection=True, enable_custom_object_detection=True, - enable_nav_map_feed=True): + enable_nav_map_feed=True, + ): print("Starting 3D Viewer. Use Ctrl+C to quit.") try: while True: From 9238e9e343eefd44cd007072f817d18e889991a7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carsten=20M=C3=BCller?= Date: Tue, 29 Jan 2019 22:48:24 +0100 Subject: [PATCH 2/6] fixing fixed object rendering --- anki_vector/opengl/opengl_vector.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/anki_vector/opengl/opengl_vector.py b/anki_vector/opengl/opengl_vector.py index 138fab4..8f8e22b 100644 --- a/anki_vector/opengl/opengl_vector.py +++ b/anki_vector/opengl/opengl_vector.py @@ -550,9 +550,14 @@ def __init__(self, custom_object, is_fixed: bool): super().__init__(custom_object) self.is_fixed = is_fixed - self.x_size_mm = custom_object.archetype.x_size_mm - self.y_size_mm = custom_object.archetype.y_size_mm - self.z_size_mm = custom_object.archetype.z_size_mm + if is_fixed: + self.x_size_mm = custom_object.x_size_mm + self.y_size_mm = custom_object.y_size_mm + self.z_size_mm = custom_object.z_size_mm + else: + self.x_size_mm = custom_object.archetype.x_size_mm + self.y_size_mm = custom_object.archetype.y_size_mm + self.z_size_mm = custom_object.archetype.z_size_mm class RobotRenderFrame(): # pylint: disable=too-few-public-methods From ee83612221b18b840e361a98962070326661aec1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carsten=20Mu=CC=88ller?= Date: Wed, 30 Jan 2019 22:06:59 +0100 Subject: [PATCH 3/6] Fixing rendering problem of FixedCustomObjects. The object renderer assumed wrongly that CustomObjects and FixedCustomObjects where polymorph. --- anki_vector/opengl/opengl_vector.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/anki_vector/opengl/opengl_vector.py b/anki_vector/opengl/opengl_vector.py index 138fab4..8f8e22b 100644 --- a/anki_vector/opengl/opengl_vector.py +++ b/anki_vector/opengl/opengl_vector.py @@ -550,9 +550,14 @@ def __init__(self, custom_object, is_fixed: bool): super().__init__(custom_object) self.is_fixed = is_fixed - self.x_size_mm = custom_object.archetype.x_size_mm - self.y_size_mm = custom_object.archetype.y_size_mm - self.z_size_mm = custom_object.archetype.z_size_mm + if is_fixed: + self.x_size_mm = custom_object.x_size_mm + self.y_size_mm = custom_object.y_size_mm + self.z_size_mm = custom_object.z_size_mm + else: + self.x_size_mm = custom_object.archetype.x_size_mm + self.y_size_mm = custom_object.archetype.y_size_mm + self.z_size_mm = custom_object.archetype.z_size_mm class RobotRenderFrame(): # pylint: disable=too-few-public-methods From 2992554a59bce04d10758e6ca31351d87483393e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carsten=20M=C3=BCller?= Date: Tue, 5 Feb 2019 21:07:33 +0100 Subject: [PATCH 4/6] fixing message parameter error the parameters approach_angel and distance_from_marker where not mapped to the correct request message parameters. --- anki_vector/behavior.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/anki_vector/behavior.py b/anki_vector/behavior.py index eb652fc..4a9a4ef 100644 --- a/anki_vector/behavior.py +++ b/anki_vector/behavior.py @@ -293,9 +293,9 @@ async def dock_with_cube(self, if approach_angle is not None: dock_request.use_approach_angle = True dock_request.use_pre_dock_pose = True - dock_request.approach_angle = approach_angle.radians + dock_request.approach_angle_rad = approach_angle.radians if distance_from_marker is not None: - dock_request.distance_from_marker = distance_from_marker.distance_mm + dock_request.distance_from_marker_mm = distance_from_marker.distance_mm return await self.grpc_interface.DockWithCube(dock_request) From 320053a2c00d89375c2e4944c290b63c41d8c92b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carsten=20Mu=CC=88ller?= Date: Thu, 7 Feb 2019 15:21:36 +0100 Subject: [PATCH 5/6] Revert "Fixing rendering problem" This reverts commit ee83612221b18b840e361a98962070326661aec1. --- anki_vector/opengl/opengl_vector.py | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/anki_vector/opengl/opengl_vector.py b/anki_vector/opengl/opengl_vector.py index 8f8e22b..138fab4 100644 --- a/anki_vector/opengl/opengl_vector.py +++ b/anki_vector/opengl/opengl_vector.py @@ -550,14 +550,9 @@ def __init__(self, custom_object, is_fixed: bool): super().__init__(custom_object) self.is_fixed = is_fixed - if is_fixed: - self.x_size_mm = custom_object.x_size_mm - self.y_size_mm = custom_object.y_size_mm - self.z_size_mm = custom_object.z_size_mm - else: - self.x_size_mm = custom_object.archetype.x_size_mm - self.y_size_mm = custom_object.archetype.y_size_mm - self.z_size_mm = custom_object.archetype.z_size_mm + self.x_size_mm = custom_object.archetype.x_size_mm + self.y_size_mm = custom_object.archetype.y_size_mm + self.z_size_mm = custom_object.archetype.z_size_mm class RobotRenderFrame(): # pylint: disable=too-few-public-methods From 851547fdfc18db6e935ce8c65b56bde32f6761d2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carsten=20Mu=CC=88ller?= Date: Thu, 7 Feb 2019 15:21:56 +0100 Subject: [PATCH 6/6] Revert "Stuff for viewer" This reverts commit 94cee5293ded20b06e8304334a5f43540b04bfa0. --- examples/apps/3d_viewer/3d_viewer.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/examples/apps/3d_viewer/3d_viewer.py b/examples/apps/3d_viewer/3d_viewer.py index ca2061b..125158b 100755 --- a/examples/apps/3d_viewer/3d_viewer.py +++ b/examples/apps/3d_viewer/3d_viewer.py @@ -33,8 +33,7 @@ def main(): show_3d_viewer=True, enable_face_detection=True, enable_custom_object_detection=True, - enable_nav_map_feed=True, - ): + enable_nav_map_feed=True): print("Starting 3D Viewer. Use Ctrl+C to quit.") try: while True: