Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

🐛 Fix the robot visualization when the dataset contains signals retrieved at different frequencies #72

Merged
merged 1 commit into from
Nov 15, 2023
Merged

🐛 Fix the robot visualization when the dataset contains signals retrieved at different frequencies #72

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 16 additions & 0 deletions robot_log_visualizer/file_reader/signal_provider.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -193,6 +193,9 @@ def index(self, index):
def register_update_index(self, slot):
self.update_index_signal.connect(slot)

def set_dataset_percentage(self, percentage):
self.update_index(int(percentage * len(self)))

def update_index(self, index):
locker = QMutexLocker(self.index_lock)
self._index = max(min(index, len(self.timestamps) - 1), 0)
Expand All @@ -204,6 +207,19 @@ def current_time(self):
value = self._current_time
return value

def get_joints_position(self):
return self.data[self.root_name]["joints_state"]["positions"]["data"]

def get_joints_position_at_index(self, index):
joints_position_timestamps = self.data[self.root_name]["joints_state"][
"positions"
]["timestamps"]
# given the index find the closest timestamp
closest_index = np.argmin(
np.abs(joints_position_timestamps - self.timestamps[index])
)
return self.get_joints_position()[closest_index, :]

def run(self):
while True:
start = time.time()
Expand Down
10 changes: 3 additions & 7 deletions robot_log_visualizer/robot_visualizer/meshcat_provider.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -149,16 +149,12 @@ def run(self):

if self.state == PeriodicThreadState.running and self._is_model_loaded:
# These are the robot measured joint positions in radians
joints = self._signal_provider.data[self._signal_provider.root_name][
"joints_state"
]["positions"]["data"]

self.meshcat_visualizer.set_multibody_system_state(
base_position,
base_rotation,
joint_value=joints[
self._signal_provider.index, self.model_joints_index
],
joint_value=self._signal_provider.get_joints_position_at_index(
self._signal_provider.index
)[self.model_joints_index],
model_name="robot",
)

Expand Down
64 changes: 33 additions & 31 deletions robot_log_visualizer/ui/gui.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -246,7 +246,10 @@ def keyPressEvent(self, event):
if event.key() == Qt.Key_B:
self.slider_pressed = True
new_index = int(self.ui.timeSlider.value()) - 1
self.signal_provider.update_index(new_index)
dataset_percentage = float(new_index) / float(
self.ui.timeSlider.maximum()
)
self.signal_provider.set_dataset_percentage(dataset_percentage)
self.ui.timeLabel.setText(f"{self.signal_provider.current_time:.2f}")
self.text_logger.highlight_cell(
self.find_text_log_index(self.get_text_log_item_path())
Expand All @@ -255,11 +258,8 @@ def keyPressEvent(self, event):
# for every video item we set the instant
for video_item in self.video_items:
if video_item.media_loaded:
video_percentage = float(new_index) / float(
self.ui.timeSlider.maximum()
)
video_item.media_player.setPosition(
int(video_percentage * video_item.media_player.duration())
int(dataset_percentage * video_item.media_player.duration())
)

# update the time slider
Expand All @@ -268,7 +268,10 @@ def keyPressEvent(self, event):
elif event.key() == Qt.Key_F:
self.slider_pressed = True
new_index = int(self.ui.timeSlider.value()) + 1
self.signal_provider.update_index(new_index)
dataset_percentage = float(new_index) / float(
self.ui.timeSlider.maximum()
)
self.signal_provider.set_dataset_percentage(dataset_percentage)
self.ui.timeLabel.setText(f"{self.signal_provider.current_time:.2f}")
self.text_logger.highlight_cell(
self.find_text_log_index(self.get_text_log_item_path())
Expand All @@ -277,11 +280,8 @@ def keyPressEvent(self, event):
# for every video item we set the instant
for video_item in self.video_items:
if video_item.media_loaded:
video_percentage = float(new_index) / float(
self.ui.timeSlider.maximum()
)
video_item.media_player.setPosition(
int(video_percentage * video_item.media_player.duration())
int(dataset_percentage * video_item.media_player.duration())
)

self.ui.timeSlider.setValue(new_index)
Expand All @@ -303,31 +303,31 @@ def timeSlider_on_pressed(self):

def timeSlider_on_sliderMoved(self):
index = int(self.ui.timeSlider.value())
dataset_percentage = float(index) / float(self.ui.timeSlider.maximum())

for video_item in self.video_items:
if video_item.media_loaded:
video_percentage = float(index) / float(self.ui.timeSlider.maximum())
video_item.media_player.setPosition(
int(video_percentage * video_item.media_player.duration())
int(dataset_percentage * video_item.media_player.duration())
)

self.signal_provider.update_index(index)
self.signal_provider.set_dataset_percentage(dataset_percentage)
self.ui.timeLabel.setText(f"{self.signal_provider.current_time:.2f}")
self.text_logger.highlight_cell(
self.find_text_log_index(self.get_text_log_item_path())
)

def timeSlider_on_release(self):
index = int(self.ui.timeSlider.value())
dataset_percentage = float(index) / float(self.ui.timeSlider.maximum())

for video_item in self.video_items:
if video_item.media_loaded:
video_percentage = float(index) / float(self.ui.timeSlider.maximum())
video_item.media_player.setPosition(
int(video_percentage * video_item.media_player.duration())
int(dataset_percentage * video_item.media_player.duration())
)

self.signal_provider.update_index(index)
self.signal_provider.set_dataset_percentage(dataset_percentage)
self.ui.timeLabel.setText(f"{self.signal_provider.current_time:.2f}")
self.text_logger.highlight_cell(
self.find_text_log_index(self.get_text_log_item_path())
Expand Down Expand Up @@ -475,22 +475,24 @@ def plotTabBar_currentChanged(self, index):

@pyqtSlot()
def update_index(self):
if not self.slider_pressed:
self.ui.timeSlider.setValue(self.signal_provider.index)
self.ui.timeLabel.setText(f"{self.signal_provider.current_time:.2f}")
self.text_logger.highlight_cell(
self.find_text_log_index(self.get_text_log_item_path())
)
if self.slider_pressed:
return

# TODO: this is a hack to update the video player and it should be done only for the activated videos
for video_item in self.video_items:
if video_item.media_loaded:
video_percentage = float(self.ui.timeSlider.value()) / float(
self.ui.timeSlider.maximum()
)
video_item.media_player.setPosition(
int(video_percentage * video_item.media_player.duration())
)
self.ui.timeSlider.setValue(self.signal_provider.index)
self.ui.timeLabel.setText(f"{self.signal_provider.current_time:.2f}")
self.text_logger.highlight_cell(
self.find_text_log_index(self.get_text_log_item_path())
)

# TODO: this is a hack to update the video player and it should be done only for the activated videos
for video_item in self.video_items:
if video_item.media_loaded:
video_percentage = float(self.ui.timeSlider.value()) / float(
self.ui.timeSlider.maximum()
)
video_item.media_player.setPosition(
int(video_percentage * video_item.media_player.duration())
)

def closeEvent(self, event):
# close the window
Expand Down
Loading