Allow users to customize the stow configuration (#141)

personalrobotics · Aug 14, 2024 · 1d295fc · 1d295fc
1 parent 2dc2dfe
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Showing 4 changed files with 46 additions and 10 deletions.
diff --git a/feedingwebapp/src/Pages/Constants.js b/feedingwebapp/src/Pages/Constants.js
@@ -138,6 +138,7 @@ export const STAGING_PARAM_ORIENTATION = 'MoveFromMouth.tree_kwargs.staging_conf
 export const RESTING_PARAM_JOINTS_1 = 'AcquireFood.tree_kwargs.resting_joint_positions'
 // TODO: We may need to remove the orientation constraint from the below action.
 export const RESTING_PARAM_JOINTS_2 = 'MoveToRestingPosition.tree_kwargs.goal_configuration'
+export const STOW_PARAM_JOINTS = 'MoveToStowLocation.tree_kwargs.joint_positions'
 
 // Parameters for modifying the force threshold
 export const FORCE_THRESHOLD_PARAM = 'wrench_threshold.fMag'

diff --git a/feedingwebapp/src/Pages/GlobalState.jsx b/feedingwebapp/src/Pages/GlobalState.jsx
@@ -76,15 +76,24 @@ export { NON_MOVING_STATES }
 /**
  * SETTINGS_STATE controls which settings page to display.
  *  - MAIN: The main page, with options to navigate to the other pages.
- *  - BITE_TRANSFER: The bite transfer page, where the user can configure
- *    parameters for bite transfer.
+ *  - DISTANCE_TO_MOUTH: Allow the user to customize how close the robot gets
+ *    to their mouth.
+ *  - ABOVE_PLATE: Allow the user to customize how high the fixed above plate
+ *    arm configuration.
+ *  - RESTING_CONFIGURATION: Allow the user to customize the fixed resting
+ *    arm configuration.
+ *  - STAGING_CONFIGURATION: Allow the user to customize the fixed staging
+ *    arm configuration.
+ *  - STOW_CONFIGURATION: Allow the user to customize the fixed stow arm
+ *    configuration.
  */
 export const SETTINGS_STATE = {
   MAIN: 'MAIN',
-  BITE_TRANSFER: 'BITE_TRANSFER',
+  DISTANCE_TO_MOUTH: 'DISTANCE_TO_MOUTH',
   ABOVE_PLATE: 'ABOVE_PLATE',
   RESTING_CONFIGURATION: 'RESTING_CONFIGURATION',
-  STAGING_CONFIGURATION: 'STAGING_CONFIGURATION'
+  STAGING_CONFIGURATION: 'STAGING_CONFIGURATION',
+  STOW_CONFIGURATION: 'STOW_CONFIGURATION'
 }
 
 // The name of the default parameter namespace

diff --git a/feedingwebapp/src/Pages/Settings/Main.jsx b/feedingwebapp/src/Pages/Settings/Main.jsx
@@ -158,13 +158,14 @@ const Main = () => {
   let moveAbovePlateConfigurationImage = MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingAbovePlate]
   let moveToRestingConfigurationImage = MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingToRestingPosition]
   let moveToStagingConfigurationImage = MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingToStagingConfiguration]
+  let moveToStowConfigurationImage = MOVING_STATE_ICON_DICT[MEAL_STATE.R_StowingArm]
 
   // Configure the different options in the settings menu
   let settingsConfig = [
     {
-      title: 'Bite Transfer',
+      title: 'Distance to Mouth',
       icon: moveToMouthConfigurationImage,
-      onClick: () => onClickSettingsPage(SETTINGS_STATE.BITE_TRANSFER)
+      onClick: () => onClickSettingsPage(SETTINGS_STATE.DISTANCE_TO_MOUTH)
     },
     {
       title: 'Above Plate',
@@ -180,6 +181,11 @@ const Main = () => {
       title: 'Staging Position',
       icon: moveToStagingConfigurationImage,
       onClick: () => onClickSettingsPage(SETTINGS_STATE.STAGING_CONFIGURATION)
+    },
+    {
+      title: 'Stow Position',
+      icon: moveToStowConfigurationImage,
+      onClick: () => onClickSettingsPage(SETTINGS_STATE.STOW_CONFIGURATION)
     }
   ]
 
@@ -239,7 +245,7 @@ const Main = () => {
             <Button
               variant='outline-dark'
               style={{
-                fontSize: '30px',
+                fontSize: '25px',
                 display: 'flex',
                 flexDirection: 'row',
                 justifyContent: 'center',

diff --git a/feedingwebapp/src/Pages/Settings/Settings.jsx b/feedingwebapp/src/Pages/Settings/Settings.jsx
@@ -19,7 +19,8 @@ import {
   RESTING_PARAM_JOINTS_2,
   STAGING_PARAM_JOINTS,
   STAGING_PARAM_ORIENTATION,
-  STAGING_PARAM_POSITION
+  STAGING_PARAM_POSITION,
+  STOW_PARAM_JOINTS
 } from '../Constants'
 
 /**
@@ -34,13 +35,14 @@ const Settings = (props) => {
   const abovePlateParamNames = useMemo(() => [ABOVE_PLATE_PARAM_JOINTS], [])
   const restingParamNames = useMemo(() => [RESTING_PARAM_JOINTS_1, RESTING_PARAM_JOINTS_2], [])
   const stagingParamNames = useMemo(() => [STAGING_PARAM_JOINTS, STAGING_PARAM_POSITION, STAGING_PARAM_ORIENTATION], [])
+  const stowParamNames = useMemo(() => [STOW_PARAM_JOINTS], [])
 
   const getComponentBySettingsState = useCallback(() => {
     console.log('getComponentBySettingsState', settingsState)
     switch (settingsState) {
       case SETTINGS_STATE.MAIN:
         return <Main />
-      case SETTINGS_STATE.BITE_TRANSFER:
+      case SETTINGS_STATE.DISTANCE_TO_MOUTH:
         return <BiteTransfer webrtcURL={props.webrtcURL} />
       case SETTINGS_STATE.ABOVE_PLATE:
         return (
@@ -118,11 +120,29 @@ const Settings = (props) => {
             webrtcURL={props.webrtcURL}
           />
         )
+      case SETTINGS_STATE.STOW_CONFIGURATION:
+        return (
+          <CustomizeConfiguration
+            startingMealState={MEAL_STATE.R_StowingArm}
+            paramNames={stowParamNames}
+            getEndEffectorPose={false}
+            getParamValues={[getJointPositionsFromRobotStateResponse]}
+            configurationName='Stow Position'
+            buttonName='Stow Arm'
+            otherButtonConfigs={[
+              {
+                name: 'Move Above Plate',
+                mealState: MEAL_STATE.R_MovingAbovePlate
+              }
+            ]}
+            webrtcURL={props.webrtcURL}
+          />
+        )
       default:
         console.log('Invalid settings state', settingsState)
         return <Main />
     }
-  }, [abovePlateParamNames, restingParamNames, stagingParamNames, props.webrtcURL, settingsState])
+  }, [abovePlateParamNames, restingParamNames, stagingParamNames, stowParamNames, props.webrtcURL, settingsState])
 
   // Render the component
   return (