Skip to content

[APP-10023] Update joint positions when pose changes and vice versa #445

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

Open
wants to merge 14 commits into
base: main
Choose a base branch
from
Open

[APP-10023] Update joint positions when pose changes and vice versa #445

Changes from 1 commit
Commits
Show all changes
14 commits
Select commit Hold shift + click to select a range
474a328
add joint positions widget
martha-johnston Oct 29, 2025
a60ae2e
arm_new generic screen
martha-johnston Oct 29, 2025
6e38c07
Change label from 'Joint Angles' to 'Joint Positions'
martha-johnston Oct 29, 2025
3d0d5a9
Implement joint position functionality (#441)
martha-johnston Oct 30, 2025
7c5540d
use theme for colors
martha-johnston Oct 30, 2025
8b0b6d9
Merge branch 'main' into app-9878/joint-positions
martha-johnston Oct 31, 2025
a3a68c1
update joint angle limits
martha-johnston Oct 31, 2025
ea583bc
update arm values
martha-johnston Nov 3, 2025
6d78cd3
Merge branch 'main' into app-10023/update
martha-johnston Nov 7, 2025
4a082e2
update branch
martha-johnston Nov 7, 2025
7a432db
switch arm_new to arm
martha-johnston Nov 7, 2025
9d42291
extend sliders (#449)
martha-johnston Nov 7, 2025
8bf470a
pr comments
martha-johnston Nov 7, 2025
1dd39cd
remove new suffix
martha-johnston Nov 13, 2025
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
232 changes: 2 additions & 230 deletions lib/widgets/resources/arm_new.dart
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,7 @@
import 'package:flutter/material.dart';

import '../../viam_sdk.dart';

final size = 300.0;
import 'arm_widgets/joint_positions_widget.dart';

/// A widget to control an [Arm].
class ViamArmWidgetNew extends StatelessWidget {
Expand All @@ -18,235 +17,8 @@ class ViamArmWidgetNew extends StatelessWidget {
Widget build(BuildContext context) {
return Column(
children: [
Divider(),
Text(
'End-effector Position',
style: TextStyle(
fontWeight: FontWeight.bold,
),
),
Divider(),
Stack(
children: [
_SlantedArrowPad(
// TODO: add functions for arrow functionality
onUp: () {},
onDown: () {},
onLeft: () {},
onRight: () {},
),
_BuildCornerButton(
alignment: Alignment.topLeft,
direction: ArrowDirection.up,
label: 'Z+',
onPressed: () {},
),
_BuildCornerButton(
alignment: Alignment.topRight,
direction: ArrowDirection.down,
label: 'Z-',
onPressed: () {},
),
],
),
JointPositionsWidget(arm: arm),
Copy link
Member

@tgritter tgritter Nov 7, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Also a good sign it's an effective widget when you are able to delete a lot of code from a file!

],
);
}
}

class _BuildCornerButton extends StatelessWidget {
final Alignment alignment;
final ArrowDirection direction;
final String label;
final VoidCallback onPressed;

const _BuildCornerButton({
required this.alignment,
required this.direction,
required this.label,
required this.onPressed,
});

@override
Widget build(BuildContext context) {
return Align(
alignment: alignment,
child: Padding(
padding: const EdgeInsets.all(24.0),
child: SizedBox(
width: 100,
height: 100,
child: IconButton(
icon: Stack(
alignment: Alignment.center,
children: [
CustomPaint(
painter: _LinearArrowPainter(direction: direction, color: Colors.black),
child: const SizedBox.expand(),
),
Text(
label,
style: const TextStyle(
color: Colors.white,
fontWeight: FontWeight.bold,
fontSize: 16,
),
),
],
),
onPressed: onPressed,
),
),
),
);
}
}

enum ArrowDirection { up, down, left, right }

class _LinearArrowPainter extends CustomPainter {
final ArrowDirection direction;
final Color color;

_LinearArrowPainter({required this.direction, required this.color});

@override
void paint(Canvas canvas, Size size) {
final paint = Paint()
..color = color
..style = PaintingStyle.fill;

final path = Path();
final w = size.width;
final h = size.height;

switch (direction) {
case ArrowDirection.up:
path.moveTo(w / 2, 0);
path.lineTo(w, h * 0.6);
path.lineTo(w * 0.8, h * 0.6);
path.lineTo(w * 0.8, h);
path.lineTo(w * 0.2, h);
path.lineTo(w * 0.2, h * 0.6);
path.lineTo(0, h * 0.6);
break;
case ArrowDirection.down:
path.moveTo(w / 2, h);
path.lineTo(0, h * 0.4);
path.lineTo(w * 0.2, h * 0.4);
path.lineTo(w * 0.2, 0);
path.lineTo(w * 0.8, 0);
path.lineTo(w * 0.8, h * 0.4);
path.lineTo(w, h * 0.4);
break;
case ArrowDirection.left:
path.moveTo(0, h / 2);
path.lineTo(w * 0.6, 0);
path.lineTo(w * 0.6, h * 0.2);
path.lineTo(w, h * 0.2);
path.lineTo(w, h * 0.8);
path.lineTo(w * 0.6, h * 0.8);
path.lineTo(w * 0.6, h);
break;
case ArrowDirection.right:
path.moveTo(w, h / 2);
path.lineTo(w * 0.4, h);
path.lineTo(w * 0.4, h * 0.8);
path.lineTo(0, h * 0.8);
path.lineTo(0, h * 0.2);
path.lineTo(w * 0.4, h * 0.2);
path.lineTo(w * 0.4, 0);
break;
}

path.close();
canvas.drawPath(path, paint);
}

@override
bool shouldRepaint(covariant _LinearArrowPainter oldDelegate) => false;
}

class _SlantedArrowPad extends StatelessWidget {
final VoidCallback? onUp;
final VoidCallback? onDown;
final VoidCallback? onLeft;
final VoidCallback? onRight;

const _SlantedArrowPad({
super.key,
this.onUp,
this.onDown,
this.onLeft,
this.onRight,
});

@override
Widget build(BuildContext context) {
return Center(
child: Transform(
transform: Matrix4.identity()
..setEntry(3, 2, 0.0015)
..rotateX(-0.9),
alignment: FractionalOffset.center,
child: SizedBox(
height: size,
width: size,
child: Stack(
children: [
_BuildArrowButton(alignment: Alignment.topCenter, direction: ArrowDirection.up, onPressed: onUp, label: 'X-'),
_BuildArrowButton(alignment: Alignment.bottomCenter, direction: ArrowDirection.down, onPressed: onDown, label: 'X+'),
_BuildArrowButton(alignment: Alignment.centerLeft, direction: ArrowDirection.left, onPressed: onLeft, label: 'Y-'),
_BuildArrowButton(alignment: Alignment.centerRight, direction: ArrowDirection.right, onPressed: onRight, label: 'Y+'),
],
),
),
),
);
}
}

class _BuildArrowButton extends StatelessWidget {
final Alignment alignment;
final ArrowDirection direction;
final String label;
final VoidCallback? onPressed;

const _BuildArrowButton({
required this.alignment,
required this.direction,
required this.onPressed,
required this.label,
});

@override
Widget build(BuildContext context) {
return Align(
alignment: alignment,
child: SizedBox(
width: size / 2.5,
height: size / 2.5,
child: IconButton(
icon: Stack(
alignment: Alignment.center,
children: [
CustomPaint(
painter: _LinearArrowPainter(direction: direction, color: Colors.black),
child: const SizedBox.expand(),
),
Text(
label,
style: const TextStyle(
color: Colors.white,
fontWeight: FontWeight.bold,
fontSize: 16,
),
),
],
),
onPressed: onPressed,
),
),
);
}
}