new transitions

baxter_console.py

@@ -17,7 +17,7 @@
 import threading
 import stopthread
 from sensor_msgs.msg import Image
-from teleoperate import get_joint_angles
+from teleoperate_tweaked import get_joint_angles
 
 BANNER = "WELCOME TO BAXTER"
 DEFAULT_RATE = 10
@@ -189,13 +189,13 @@ def standby(self):
 
     def start_teleoperation(self, transition=1):
         if transition == 1:
-            self.queue_state({"position_mode":"teleoperation"})
+            self.queue_state({"position_mode":"teleoperation","image_mode":"list", "image_list":[{"duration":0, "filepath":"images/on.png"}]})
         else:
             if transition == 2:
-                self.queue_state({"position_mode":"csv_file", "position_file": "csv/awake2andwave.csv","image_mode":"csv_file", "image_filepath":"csv/transition2.csv"})
+                self.queue_state({"position_mode":"csv_file", "position_file": "csv/raise_hand.csv","image_mode":"csv_file", "image_filepath":"csv/transition2.csv"})
                 self.queue_state({"position_mode":"teleoperation"})
             elif transition == 3:
-                self.queue_state({"position_mode":"csv_file", "position_file": "csv/awake2andArmsUp.csv","image_mode":"csv_file","image_filepath":"csv/transition3.csv"})
+                self.queue_state({"image_mode":"csv_file","image_filepath":"csv/transition3.csv"})
                 self.queue_state({"position_mode":"teleoperation"})
 
     def test_motion(self):

csv/idle.csv

@@ -1,2 +1,2 @@
 duration,left_e0,left_e1,left_s0,left_s1,left_w0,left_w1,left_w2,right_e0,right_e1,right_s0,right_s1,right_w0,right_w1,right_w2,head_pan,head_nod
-0,0.00,0.00,-0.50,1.00,0.00,0.00,0.00,0.00,0.00,0.50,1.00,0.00,0.00,0.00,0.00,0.00
+0,0.00,0.00,-0.50,0.85,0.00,0.00,0.00,0.00,0.00,0.50,0.85,0.00,0.00,0.00,0.00,0.00

csv/raise_hand.csv

@@ -0,0 +1,3 @@
+duration,left_e0,left_e1,left_s0,left_s1,left_w0,left_w1,left_w2,right_e0,right_e1,right_s0,right_s1,right_w0,right_w1,right_w2,head_pan,head_nod
+500,0.00,1.5,-0.10,0.00,0.75,-1.25,0.00,1.81,1.71,-0.46,-0.20,-0.91,-1.55,-0.28,0.00,0.00
+100,0.00,1.5,-0.10,0.00,0.75,-1.25,0.00,1.813,1.981,-0.395,-0.202,-1.979,-1.1,-0.448,0.00,0.00

csv/standby.csv

@@ -1,2 +1,2 @@
 time,left_e0,left_e1,left_s0,left_s1,left_w0,left_w1,left_w2,right_e0,right_e1,right_s0,right_s1,right_w0,right_w1,right_w2,head_pan,head_nod
-0,3.00,1.00,-0.50,1.00,0.00,-1.25,0.00,-3.00,1.00,0.50,1.00,0.00,-1.25,0.00,-0.50,0.00
+0,0.00,1.5,-0.10,0.00,0.75,-1.25,0.00,0.00,1.5,0.10,0.00,-0.75,-1.25,0.00,-0.50,0.00

csv/transition2.csv

@@ -1,10 +1,9 @@
 duration,filepath
-30,images/eyesClosed.png
-10,images/eyesOpened.png
-10,images/eyesClosed.png
-10,images/eyesOpened.png
-10,images/eyesClosed.png
-10,images/eyesOpened.png
-240,images/smile.png
-300,images/eyesOpened.png
-0,images/eyesOpened.png
+200,images/eyesClosed.png
+50,images/eyesOpened.png
+50,images/eyesClosed.png
+50,images/eyesOpened.png
+50,images/eyesClosed.png
+50,images/eyesOpened.png
+200,images/smile.png
+200,images/eyesOpened.png

csv/wave2.csv

@@ -1,7 +1,7 @@
 duration,left_e0,left_e1,left_s0,left_s1,left_w0,left_w1,left_w2,right_e0,right_e1,right_s0,right_s1,right_w0,right_w1,right_w2,head_pan,head_nod
-40,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.81,1.71,-0.46,-0.20,-0.91,-1.55,-0.28,0.00,0.00
-40,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.813,1.981,-0.395,-0.202,-1.979,-1.1,-0.448,0.00,0.00
-40,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.81,1.71,-0.46,-0.20,-0.91,-1.55,-0.28,0.00,0.00
-40,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.813,1.981,-0.395,-0.202,-1.979,-1.1,-0.448,0.00,0.00
-40,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.81,1.71,-0.46,-0.20,-0.91,-1.55,-0.28,0.00,0.00
-40,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.813,1.981,-0.395,-0.202,-1.979,-1.1,-0.448,0.00,0.00
+800,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.81,1.71,-0.46,-0.20,-0.91,-1.55,-0.28,0.00,0.00
+300,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.813,1.981,-0.395,-0.202,-1.979,-1.1,-0.448,0.00,0.00
+300,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.81,1.71,-0.46,-0.20,-0.91,-1.55,-0.28,0.00,0.00
+300,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.813,1.981,-0.395,-0.202,-1.979,-1.1,-0.448,0.00,0.00
+300,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.81,1.71,-0.46,-0.20,-0.91,-1.55,-0.28,0.00,0.00
+300,3.00,3.00,0.00,3.00,0.00,0.00,0.00,1.813,1.981,-0.395,-0.202,-1.979,-1.1,-0.448,0.00,0.00