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Fix Ability Hand slider issue #1124

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Fix Ability Hand slider issue #1124

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c7e9f74
Fix Ability Hand slider issue
TomaszTB Nov 26, 2025
81310b5
Bring back isItemActive and executeVelToPos check
TomaszTB Nov 26, 2025
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20 changes: 18 additions & 2 deletions ...vel-behaviors/src/libgdx/java/us/ihmc/rdx/ui/hands/psyonicAbilityHand/RDXAbilityHand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,9 @@ public class RDXAbilityHand implements RDXHandInterface
private final ImFloat[] desiredVelocities = new ImFloat[6];

private float[] currentPositions = new float[6];
private float[] handGoalPositions = new float[6];
private boolean setSlidersUsingGoalPosition = false;

private Grip executeGrip = null;
private boolean executeVelToPos = false;
private final Throttler publishThrottler = new Throttler().setFrequency(30.0);
Expand Down Expand Up @@ -65,6 +68,7 @@ public void update()
}

currentPositions = communication.readState(identifier).getActuatorPositions();
handGoalPositions = communication.readState(identifier).getGoalPositions();

if ((executeGrip != null || executeVelToPos) && publishThrottler.run())
{
Expand Down Expand Up @@ -109,9 +113,16 @@ public void renderImGuiWidgets()
ImGui.sameLine();
}

// Set position slider values using current position when commanding a grip (goal position doesn't get set the same way)
if (executeGrip != null)
setSlidersUsingGoalPosition = false;

// Update position slider values using either current or goal positions
float[] sliderPositionSetter = setSlidersUsingGoalPosition ? handGoalPositions : currentPositions;

boolean scheduleExecuteVelToPos = false;
for (int i = 0; i < 6; i++)
{
{
float sliderMin = 0.0f;
float sliderMax = i == 5 ? -120.0f : 120.0f; // thumb rotator moves negative
float currentNotch = (currentPositions[i] - sliderMin) / (sliderMax - sliderMin);
Expand All @@ -122,7 +133,7 @@ public void renderImGuiWidgets()
scheduleExecuteVelToPos |= ImGui.sliderFloat(labels.getHidden(FINGER_NAMES[i]), desiredPositions[i].getData(), sliderMin, sliderMax,
"%s: %.2f%s flexion".formatted(FINGER_NAMES[i], currentPositions[i], EuclidCoreMissingTools.DEGREE_SYMBOL));
if (!ImGui.isItemActive() && !executeVelToPos) // Prevent overriding externally submitted positions too
desiredPositions[i].set(currentPositions[i]);
desiredPositions[i].set(sliderPositionSetter[i]);
ImGui.popItemWidth();
ImGui.sameLine();
ImGui.pushItemWidth(ImGui.getColumnWidth());
Expand All @@ -131,7 +142,12 @@ public void renderImGuiWidgets()
}

if (scheduleExecuteVelToPos)
{
executeVelToPos = true;
// Set position slider values using goal position when using position sliders
setSlidersUsingGoalPosition = true;
}

ImGui.endDisabled();
}

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