us.ihmc.tools.taskExecutor.PipeLine.requestNewStage java code examples

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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 flexUp()
{
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_PALMS_UP);
 pipeLine.requestNewStage();
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLEX_UP);
 pipeLine.requestNewStage();
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_PALMS_UP);
 pipeLine.requestNewStage();
}

private void flexDown()
{
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_SUPPINATE_IN);
 pipeLine.requestNewStage();
 submitDesiredChestOrientation(true, 0.0, 0.7 * maxPitchForward, 0.0);
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLEX_DOWN);
 pipeLine.requestNewStage();
}

private void flexDown()
{
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLYING_SUPPINATE_IN);
 pipeLine.requestNewStage();
 submitDesiredChestOrientation(true, 0.0, 0.7 * maxPitchForward, 0.0);
 submitSymmetricHumanoidArmPose(HumanoidArmPose.FLEX_DOWN);
 pipeLine.requestNewStage();
}

private void cuteWave(RobotSide robotSide)
{
 FrameQuaternion desiredUpperArmOrientation = new FrameQuaternion(fullRobotModel.getChest().getBodyFixedFrame());
 FrameQuaternion desiredHandOnHipOrientation = new FrameQuaternion(lowerArmsFrames.get(robotSide.getOppositeSide()));
 FrameQuaternion desiredHandWavingOrientation = new FrameQuaternion(lowerArmsFrames.get(robotSide));
 boolean mirrorOrientationForRightSide = true;
 submitDesiredPelvisOrientation(true, 0.0, 0.0, Math.toRadians((robotSide == RobotSide.RIGHT ? 20.0 : -20.0)));
 desiredUpperArmOrientation.setYawPitchRoll(0.0, Math.toRadians(45.0), Math.toRadians(-75.0));
 desiredHandOnHipOrientation.setYawPitchRoll(0.0, Math.PI / 2.0, 0.0);
 submitHandPose(robotSide.getOppositeSide(), desiredUpperArmOrientation, -Math.PI / 2.0, desiredHandOnHipOrientation, mirrorOrientationForRightSide);
 desiredUpperArmOrientation.setYawPitchRoll(0.0, -Math.PI / 2.0, 0.0);
 desiredHandWavingOrientation.setYawPitchRoll(0.0, Math.PI / 2.0, 0.0);
 submitHandPose(robotSide, desiredUpperArmOrientation, -Math.PI / 2.0, desiredHandWavingOrientation, mirrorOrientationForRightSide);
 pipeLine.requestNewStage();
 int numberOfWaves = 3;
 for (int i = 0; i < numberOfWaves; i++)
 {
   desiredHandWavingOrientation.setYawPitchRoll(Math.toRadians(0.0), Math.PI / 2.0, Math.toRadians(-30.0));
   submitHandPose(robotSide, desiredUpperArmOrientation, -Math.PI / 2.0, desiredHandWavingOrientation, mirrorOrientationForRightSide);
   pipeLine.requestNewStage();
   desiredHandWavingOrientation.setYawPitchRoll(Math.toRadians(0.0), Math.PI / 2.0, Math.toRadians(25.0));
   submitHandPose(robotSide, desiredUpperArmOrientation, -Math.PI / 2.0, desiredHandWavingOrientation, mirrorOrientationForRightSide);
   pipeLine.requestNewStage();
 }
 sequenceGoHome();
}

private void sequenceSquatathon()
{
 boolean parallelize = true;
 submitDesiredPelvisOrientation(parallelize, 0.0, Math.toRadians(15), 0.0);
 submitDesiredChestOrientation(parallelize, 0.0, Math.toRadians(15.0), 0.0);
 submitSymmetricHumanoidArmPose(HumanoidArmPose.REACH_WAY_FORWARD);
 submitDesiredPelvisHeight(parallelize, minCoMHeightOffset.getDoubleValue());
 pipeLine.requestNewStage();
 submitChestHomeCommand(parallelize);
 submitPelvisHomeCommand(parallelize);
 submitSymmetricHumanoidArmPose(HumanoidArmPose.STAND_PREP);
 submitDesiredPelvisHeight(parallelize, maxCoMHeightOffset.getDoubleValue());
}

private void sequenceSquatathon()
{
 boolean parallelize = true;
 submitDesiredPelvisOrientation(parallelize, 0.0, Math.toRadians(15), 0.0);
 submitDesiredChestOrientation(parallelize, 0.0, Math.toRadians(15.0), 0.0);
 submitSymmetricHumanoidArmPose(HumanoidArmPose.REACH_WAY_FORWARD);
 submitDesiredPelvisHeight(parallelize, minCoMHeightOffset.getDoubleValue());
 pipeLine.requestNewStage();
 submitChestHomeCommand(parallelize);
 submitPelvisHomeCommand(parallelize);
 submitSymmetricHumanoidArmPose(HumanoidArmPose.STAND_PREP);
 submitDesiredPelvisHeight(parallelize, maxCoMHeightOffset.getDoubleValue());
}

private void sequenceHandShakeShake()
{
 RobotSide robotSide = RobotSide.RIGHT;
 boolean mirrorOrientationForRightSide = true;
 FrameOrientation desiredUpperArmOrientation = new FrameOrientation(fullRobotModel.getChest().getBodyFixedFrame());
 FrameOrientation desiredHandOrientation = new FrameOrientation(lowerArmsFrames.get(robotSide));
 desiredUpperArmOrientation.setYawPitchRoll(0.0, -shoulderExtensionAngle, -1.2708);
 int numberOfShakes = 3;
 for (int i = 0; i < numberOfShakes; i++)
 {
   desiredHandOrientation.setYawPitchRoll(0.0, Math.PI / 2.0, shakeHandAngle);
   submitHandPose(robotSide, desiredUpperArmOrientation, shakeHandAngle + shoulderExtensionAngle - Math.PI / 2.0, desiredHandOrientation,
      mirrorOrientationForRightSide);
   pipeLine.requestNewStage();
   desiredHandOrientation.setYawPitchRoll(0.0, Math.PI / 2.0, 0.0);
   submitHandPose(robotSide, desiredUpperArmOrientation, shoulderExtensionAngle - Math.PI / 2.0, desiredHandOrientation, mirrorOrientationForRightSide);
   pipeLine.requestNewStage();
 }
}

private void sequenceHandShakeShake()
{
 RobotSide robotSide = RobotSide.RIGHT;
 boolean mirrorOrientationForRightSide = true;
 FrameQuaternion desiredUpperArmOrientation = new FrameQuaternion(fullRobotModel.getChest().getBodyFixedFrame());
 FrameQuaternion desiredHandOrientation = new FrameQuaternion(lowerArmsFrames.get(robotSide));
 desiredUpperArmOrientation.setYawPitchRoll(0.0, -shoulderExtensionAngle, -1.2708);
 int numberOfShakes = 3;
 for (int i = 0; i < numberOfShakes; i++)
 {
   desiredHandOrientation.setYawPitchRoll(0.0, Math.PI / 2.0, shakeHandAngle);
   submitHandPose(robotSide, desiredUpperArmOrientation, shakeHandAngle + shoulderExtensionAngle - Math.PI / 2.0, desiredHandOrientation,
          mirrorOrientationForRightSide);
   pipeLine.requestNewStage();
   desiredHandOrientation.setYawPitchRoll(0.0, Math.PI / 2.0, 0.0);
   submitHandPose(robotSide, desiredUpperArmOrientation, shoulderExtensionAngle - Math.PI / 2.0, desiredHandOrientation, mirrorOrientationForRightSide);
   pipeLine.requestNewStage();
 }
}

private void sequenceStepsShort()
{
 pipeLine.requestNewStage();
 for (int i = 0; i < numberOfCyclesToRun.getIntegerValue(); i++)
 {
   // forward
   submitWalkToLocation(false, 0.5, 0.0, 0.0, 0.0);
   //backward
   submitWalkToLocation(false, 0.0, 0.0, 0.0, Math.PI); // Math.PI
   //sideWalk
   submitWalkToLocation(false, 0.5, 0.0, -Math.PI / 2.0, -Math.PI / 2.0);
   submitWalkToLocation(false, 0.0, 0.0, 0.0, Math.PI / 2.0);
   //turn in place
   submitWalkToLocation(false, 0.0, 0.0, 0.0, 0.0);
 }
}

private void sequenceStepsShort()
{
 pipeLine.requestNewStage();
 for (int i = 0; i < numberOfCyclesToRun.getIntegerValue(); i++)
 {
   // forward
   submitWalkToLocation(false, 0.5, 0.0, 0.0, 0.0);
   //backward
   submitWalkToLocation(false, 0.0, 0.0, 0.0, Math.PI); // Math.PI
   //sideWalk
   submitWalkToLocation(false, 0.5, 0.0, -Math.PI / 2.0, -Math.PI / 2.0);
   submitWalkToLocation(false, 0.0, 0.0, 0.0, Math.PI / 2.0);
   //turn in place
   submitWalkToLocation(false, 0.0, 0.0, 0.0, 0.0);
 }
}

private void sequenceHandShakePrep()
{
 RobotSide robotSide = RobotSide.RIGHT;
 boolean mirrorOrientationForRightSide = true;
 FrameOrientation desiredUpperArmOrientation = new FrameOrientation(fullRobotModel.getChest().getBodyFixedFrame());
 FrameOrientation desiredHandOrientation = new FrameOrientation(lowerArmsFrames.get(robotSide));
 desiredUpperArmOrientation.setYawPitchRoll(0.0, -shoulderExtensionAngle, -1.2708);
 desiredHandOrientation.setYawPitchRoll(0.0, Math.PI / 2.0, 0.0);
 submitHandPose(robotSide, desiredUpperArmOrientation, shoulderExtensionAngle - Math.PI / 2.0, desiredHandOrientation, mirrorOrientationForRightSide);
 pipeLine.requestNewStage();
}

private void sequenceHandShakePrep()
{
 RobotSide robotSide = RobotSide.RIGHT;
 boolean mirrorOrientationForRightSide = true;
 FrameQuaternion desiredUpperArmOrientation = new FrameQuaternion(fullRobotModel.getChest().getBodyFixedFrame());
 FrameQuaternion desiredHandOrientation = new FrameQuaternion(lowerArmsFrames.get(robotSide));
 desiredUpperArmOrientation.setYawPitchRoll(0.0, -shoulderExtensionAngle, -1.2708);
 desiredHandOrientation.setYawPitchRoll(0.0, Math.PI / 2.0, 0.0);
 submitHandPose(robotSide, desiredUpperArmOrientation, shoulderExtensionAngle - Math.PI / 2.0, desiredHandOrientation, mirrorOrientationForRightSide);
 pipeLine.requestNewStage();
}

private void sequenceFlexDown()
{
 RobotSide robotSide = RobotSide.LEFT;
 ReferenceFrame ankleZUpFrame = ankleZUpFrames.get(robotSide);
 //put the left foot forward
 FramePose desiredFootstepPosition = new FramePose(ankleZUpFrame);
 Point3d position = new Point3d(0.2, robotSide.negateIfRightSide(0.12), 0.0);
 Quat4d orientation = new Quat4d(0.0, 0.0, 0.0, 1.0);
 desiredFootstepPosition.setPose(position, orientation);
 desiredFootstepPosition.changeFrame(worldFrame);
 submitFootstepPose(true, robotSide, desiredFootstepPosition);
 pipeLine.requestNewStage();
 flexDown();
 sequenceGoHome();
 sequenceSquareUp();
 submitChestHomeCommand(true);
 submitPelvisHomeCommand(true);
 pipeLine.requestNewStage();
}

private void sequenceFlexDown()
{
 RobotSide robotSide = RobotSide.LEFT;
 ReferenceFrame soleZUpFrame = soleZUpFrames.get(robotSide);
 //put the left foot forward
 FramePose3D desiredFootstepPosition = new FramePose3D(soleZUpFrame);
 Point3D position = new Point3D(0.2, robotSide.negateIfRightSide(0.12), 0.0);
 Quaternion orientation = new Quaternion(0.0, 0.0, 0.0, 1.0);
 desiredFootstepPosition.set(position, orientation);
 desiredFootstepPosition.changeFrame(worldFrame);
 submitFootstepPose(true, robotSide, desiredFootstepPosition);
 pipeLine.requestNewStage();
 flexDown();
 sequenceGoHome();
 sequenceSquareUp();
 submitChestHomeCommand(true);
 submitPelvisHomeCommand(true);
 pipeLine.requestNewStage();
}

private void sequenceFlexUpFlexDown()
{
 RobotSide robotSide = RobotSide.LEFT;
 ReferenceFrame soleZUpFrame = soleZUpFrames.get(robotSide);
 //put the left foot forward
 FramePose3D desiredFootstepPosition = new FramePose3D(soleZUpFrame);
 Point3D position = new Point3D(0.2, robotSide.negateIfRightSide(0.12), 0.0);
 Quaternion orientation = new Quaternion(0.0, 0.0, 0.0, 1.0);
 desiredFootstepPosition.set(position, orientation);
 desiredFootstepPosition.changeFrame(worldFrame);
 submitFootstepPose(true, robotSide, desiredFootstepPosition);
 pipeLine.requestNewStage();
 flexUp();
 flexDown();
 sequenceGoHome();
 sequenceSquareUp();
 submitChestHomeCommand(true);
 submitPelvisHomeCommand(true);
 pipeLine.requestNewStage();
}

private void sequenceFlexUpFlexDown()
{
 RobotSide robotSide = RobotSide.LEFT;
 ReferenceFrame ankleZUpFrame = ankleZUpFrames.get(robotSide);
 //put the left foot forward
 FramePose desiredFootstepPosition = new FramePose(ankleZUpFrame);
 Point3d position = new Point3d(0.2, robotSide.negateIfRightSide(0.12), 0.0);
 Quat4d orientation = new Quat4d(0.0, 0.0, 0.0, 1.0);
 desiredFootstepPosition.setPose(position, orientation);
 desiredFootstepPosition.changeFrame(worldFrame);
 submitFootstepPose(true, robotSide, desiredFootstepPosition);
 pipeLine.requestNewStage();
 flexUp();
 flexDown();
 sequenceGoHome();
 sequenceSquareUp();
 submitChestHomeCommand(true);
 submitPelvisHomeCommand(true);
 pipeLine.requestNewStage();
}

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 kraneKick(RobotSide robotSide)
{
 ReferenceFrame ankleZUpFrame = ankleZUpFrames.get(robotSide.getOppositeSide());
 // First Lift up the foot
 submitFootPosition(false, robotSide, new FramePoint3D(ankleZUpFrame, 0.1, robotSide.negateIfRightSide(0.25), 0.2));
 submitSymmetricHumanoidArmPose(HumanoidArmPose.KARATE_KID_KRANE_KICK);
 pipeLine.requestNewStage();
 // Go back to stand prep but don't put the foot on the ground yet
 submitSymmetricHumanoidArmPose(HumanoidArmPose.STAND_PREP);
 FramePose3D footPose = new FramePose3D();
 footPose.setToZero(ankleZUpFrame);
 footPose.setPosition(0.0, robotSide.negateIfRightSide(0.25), 0.1);
 footPose.setOrientationYawPitchRoll(0.0, 0.0, 0.0);
 submitFootPose(true, robotSide, footPose);
 submitChestHomeCommand(true);
 // Put the foot back on the ground
 submitFootPosition(false, robotSide, new FramePoint3D(ankleZUpFrame, 0.0, robotSide.negateIfRightSide(0.25), -0.3));
}

private void kraneKick(RobotSide robotSide)
{
 ReferenceFrame ankleZUpFrame = ankleZUpFrames.get(robotSide.getOppositeSide());
 // First Lift up the foot
 submitFootPosition(false, robotSide, new FramePoint(ankleZUpFrame, 0.1, robotSide.negateIfRightSide(0.25), 0.2));
 submitSymmetricHumanoidArmPose(HumanoidArmPose.KARATE_KID_KRANE_KICK);
 pipeLine.requestNewStage();
 // Go back to stand prep but don't put the foot on the ground yet
 submitSymmetricHumanoidArmPose(HumanoidArmPose.STAND_PREP);
 FramePose footPose = new FramePose();
 footPose.setToZero(ankleZUpFrame);
 footPose.setPosition(0.0, robotSide.negateIfRightSide(0.25), 0.1);
 footPose.setYawPitchRoll(0.0, 0.0, 0.0);
 submitFootPose(true, robotSide, footPose);
 submitChestHomeCommand(true);
 // Put the foot back on the ground
 submitFootPosition(false, robotSide, new FramePoint(ankleZUpFrame, 0.0, robotSide.negateIfRightSide(0.25), -0.3));
}

Javadoc

Create a new stage in the master TaskExecutor. Helpful especially when two consecutive stages have parallel tasks.

Popular methods of PipeLine

submitSingleTaskStage
Submit a new single Task stage that will be executed in a new stage.
submitTaskForPallelPipesStage
Submit a new Task to be parallelized. Two possible cases: If the last stage is a single task stage,
clearAll
Remove all the stages from the master TaskExecutor.
doControl
isDone

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How to use requestNewStagemethodin us.ihmc.tools.taskExecutor.PipeLine

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requestNewStage
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us.ihmc.tools.taskExecutor.PipeLine