From d1fb8ce7b424de689a56002c2a5cfe9903d5dcfd Mon Sep 17 00:00:00 2001 From: C4llSiqn <83995467+C4llSqin@users.noreply.github.com> Date: Wed, 19 Mar 2025 11:56:44 -0600 Subject: [PATCH] auto testing: afternoon of the third day --- ...om.auto => 1 Coral Center Barge Left.auto} | 8 +- ...p.auto => 1 Coral Center Barge Right.auto} | 8 +- .../pathplanner/autos/2 Coral Cage 1.auto | 8 +- .../pathplanner/autos/2 Coral Cage 2.auto | 8 +- .../pathplanner/autos/2 Coral Cage 3.auto | 8 +- .../pathplanner/autos/2 Coral Cage 4.auto | 10 +- .../pathplanner/autos/2 Coral Cage 5.auto | 10 +- .../pathplanner/autos/2 Coral Cage 6.auto | 10 +- ...op.auto => 2 Coral Center Barge Left.auto} | 2 +- ...m.auto => 2 Coral Center Barge Right.auto} | 2 +- .../pathplanner/autos/3 Coral Cage 1.auto | 109 ------------------ .../pathplanner/autos/3 Coral Cage 3.auto | 109 ------------------ .../pathplanner/autos/3 Coral Cage 4.auto | 109 ------------------ .../pathplanner/autos/3 Coral Cage 6.auto | 109 ------------------ .../deploy/pathplanner/paths/New Path.path | 54 +++++++++ src/main/deploy/pathplanner/settings.json | 6 +- .../java/frc4388/robot/RobotContainer.java | 30 +++-- .../frc4388/robot/subsystems/SwerveDrive.java | 1 + 18 files changed, 142 insertions(+), 459 deletions(-) rename src/main/deploy/pathplanner/autos/{1 Coral Center Barge Bottom.auto => 1 Coral Center Barge Left.auto} (78%) rename src/main/deploy/pathplanner/autos/{1 Coral Center Barge Top.auto => 1 Coral Center Barge Right.auto} (78%) rename src/main/deploy/pathplanner/autos/{2 Coral Center Barge Top.auto => 2 Coral Center Barge Left.auto} (98%) rename src/main/deploy/pathplanner/autos/{2 Coral Center Barge Bottom.auto => 2 Coral Center Barge Right.auto} (98%) delete mode 100644 src/main/deploy/pathplanner/autos/3 Coral Cage 1.auto delete mode 100644 src/main/deploy/pathplanner/autos/3 Coral Cage 3.auto delete mode 100644 src/main/deploy/pathplanner/autos/3 Coral Cage 4.auto delete mode 100644 src/main/deploy/pathplanner/autos/3 Coral Cage 6.auto create mode 100644 src/main/deploy/pathplanner/paths/New Path.path diff --git a/src/main/deploy/pathplanner/autos/1 Coral Center Barge Bottom.auto b/src/main/deploy/pathplanner/autos/1 Coral Center Barge Left.auto similarity index 78% rename from src/main/deploy/pathplanner/autos/1 Coral Center Barge Bottom.auto rename to src/main/deploy/pathplanner/autos/1 Coral Center Barge Left.auto index 7adeb88..3dd88fc 100644 --- a/src/main/deploy/pathplanner/autos/1 Coral Center Barge Bottom.auto +++ b/src/main/deploy/pathplanner/autos/1 Coral Center Barge Left.auto @@ -21,11 +21,17 @@ "data": { "name": "place-coral-left-l4" } + }, + { + "type": "named", + "data": { + "name": "lower-algae-removal" + } } ] } }, "resetOdom": true, - "folder": null, + "folder": "1 Coral", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1 Coral Center Barge Top.auto b/src/main/deploy/pathplanner/autos/1 Coral Center Barge Right.auto similarity index 78% rename from src/main/deploy/pathplanner/autos/1 Coral Center Barge Top.auto rename to src/main/deploy/pathplanner/autos/1 Coral Center Barge Right.auto index 6d81c5b..e0d6f82 100644 --- a/src/main/deploy/pathplanner/autos/1 Coral Center Barge Top.auto +++ b/src/main/deploy/pathplanner/autos/1 Coral Center Barge Right.auto @@ -21,11 +21,17 @@ "data": { "name": "place-coral-right-l4" } + }, + { + "type": "named", + "data": { + "name": "lower-algae-removal" + } } ] } }, "resetOdom": true, - "folder": null, + "folder": "1 Coral", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto index 56e5665..96ded74 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto @@ -46,6 +46,12 @@ "pathName": "Top Feed to Reef 6" } }, + { + "type": "named", + "data": { + "name": "await-coral" + } + }, { "type": "named", "data": { @@ -74,6 +80,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "2 Coral", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto index 03c0706..79d3540 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto @@ -46,6 +46,12 @@ "pathName": "Top Feed to Reef 6" } }, + { + "type": "named", + "data": { + "name": "await-coral" + } + }, { "type": "named", "data": { @@ -74,6 +80,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "2 Coral", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto index eeee724..87b23c1 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto @@ -46,6 +46,12 @@ "pathName": "Top Feed to Reef 6" } }, + { + "type": "named", + "data": { + "name": "await-coral" + } + }, { "type": "named", "data": { @@ -74,6 +80,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "2 Coral", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto index ee7dcc4..3df4f64 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto @@ -19,7 +19,7 @@ { "type": "named", "data": { - "name": "place-coral-left-l4" + "name": "place-coral-right-l4" } }, { @@ -46,6 +46,12 @@ "pathName": "Bottom Feed to Reef 2" } }, + { + "type": "named", + "data": { + "name": "await-coral" + } + }, { "type": "named", "data": { @@ -74,6 +80,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "2 Coral", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto index 611dc68..0a519ac 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto @@ -19,7 +19,7 @@ { "type": "named", "data": { - "name": "place-coral-left-l4" + "name": "place-coral-right-l4" } }, { @@ -46,6 +46,12 @@ "pathName": "Bottom Feed to Reef 2" } }, + { + "type": "named", + "data": { + "name": "await-coral" + } + }, { "type": "named", "data": { @@ -74,6 +80,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "2 Coral", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto index 10f21aa..68d7700 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto @@ -19,7 +19,7 @@ { "type": "named", "data": { - "name": "place-coral-left-l4" + "name": "place-coral-right-l4" } }, { @@ -46,6 +46,12 @@ "pathName": "Bottom Feed to Reef 2" } }, + { + "type": "named", + "data": { + "name": "await-coral" + } + }, { "type": "named", "data": { @@ -74,6 +80,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "2 Coral", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Left.auto similarity index 98% rename from src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto rename to src/main/deploy/pathplanner/autos/2 Coral Center Barge Left.auto index fc445d9..8351dab 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Left.auto @@ -74,6 +74,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "2 Coral", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Right.auto similarity index 98% rename from src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto rename to src/main/deploy/pathplanner/autos/2 Coral Center Barge Right.auto index 83de831..0628011 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Right.auto @@ -74,6 +74,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "2 Coral", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3 Coral Cage 1.auto b/src/main/deploy/pathplanner/autos/3 Coral Cage 1.auto deleted file mode 100644 index 3b2b097..0000000 --- a/src/main/deploy/pathplanner/autos/3 Coral Cage 1.auto +++ /dev/null @@ -1,109 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "prepare-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Cage 1 to Reef" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-right-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 5 to Top Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Top Feed to Reef 6" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-right-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 6 to Top Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Top Feed to Reef 6" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-left-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 6 to Top Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3 Coral Cage 3.auto b/src/main/deploy/pathplanner/autos/3 Coral Cage 3.auto deleted file mode 100644 index 97151eb..0000000 --- a/src/main/deploy/pathplanner/autos/3 Coral Cage 3.auto +++ /dev/null @@ -1,109 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "prepare-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Cage 3 to Reef" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-right-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 5 to Top Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Top Feed to Reef 6" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-right-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 6 to Top Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Top Feed to Reef 6" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-left-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 6 to Top Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3 Coral Cage 4.auto b/src/main/deploy/pathplanner/autos/3 Coral Cage 4.auto deleted file mode 100644 index 55794f3..0000000 --- a/src/main/deploy/pathplanner/autos/3 Coral Cage 4.auto +++ /dev/null @@ -1,109 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "prepare-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Cage 4 to Reef" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-left-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 3 to Bottom Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Bottom Feed to Reef 2" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-right-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 2 to Bottom Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Bottom Feed to Reef 2" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-left-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 2 to Bottom Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3 Coral Cage 6.auto b/src/main/deploy/pathplanner/autos/3 Coral Cage 6.auto deleted file mode 100644 index b379414..0000000 --- a/src/main/deploy/pathplanner/autos/3 Coral Cage 6.auto +++ /dev/null @@ -1,109 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "prepare-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Cage 6 to Reef" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-left-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 3 to Bottom Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Bottom Feed to Reef 2" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-right-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 2 to Bottom Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - }, - { - "type": "path", - "data": { - "pathName": "Bottom Feed to Reef 2" - } - }, - { - "type": "named", - "data": { - "name": "place-coral-left-l4" - } - }, - { - "type": "path", - "data": { - "pathName": "Reef 2 to Bottom Feed" - } - }, - { - "type": "named", - "data": { - "name": "feed-driveback" - } - }, - { - "type": "named", - "data": { - "name": "grab-coral" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path new file mode 100644 index 0000000..bde395e --- /dev/null +++ b/src/main/deploy/pathplanner/paths/New Path.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.0, + "y": 6.0 + }, + "prevControl": null, + "nextControl": { + "x": 4.2495147804709745, + "y": 5.984431624152738 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.0, + "y": 6.0 + }, + "prevControl": { + "x": 4.249520880858856, + "y": 5.984529705386749 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index cf4f1eb..948f9b8 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -9,7 +9,11 @@ "Reef to Bottom Feed", "Top Feed to Reef" ], - "autoFolders": [], + "autoFolders": [ + "1 Coral", + "2 Coral", + "3 Coral" + ], "defaultMaxVel": 3.0, "defaultMaxAccel": 3.0, "defaultMaxAngVel": 540.0, diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index a67903a..52a1b7a 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -163,7 +163,7 @@ public class RobotContainer { new Translation2d(0,-0.5), new Translation2d(), m_robotElevator::getEndeffectorLimit, true) ), - new InstantCommand(m_robotSwerveDrive::softStop, m_robotElevator), + new InstantCommand(m_robotSwerveDrive::softStop, m_robotSwerveDrive), new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator), @@ -172,10 +172,10 @@ public class RobotContainer { new MoveForTimeCommand(m_robotSwerveDrive, new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true), - new ConditionalCommand( - new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator), + // new ConditionalCommand( + // new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator), new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator), - () -> m_robotElevator.hasCoral()), + // () -> m_robotElevator.hasCoral()), new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();}) ); @@ -280,7 +280,7 @@ public class RobotContainer { new Translation2d(0,-0.5), new Translation2d(), m_robotElevator::getEndeffectorLimit, true) ), - new InstantCommand(m_robotSwerveDrive::softStop, m_robotElevator), + new InstantCommand(m_robotSwerveDrive::softStop, m_robotSwerveDrive), new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator), @@ -290,10 +290,10 @@ public class RobotContainer { new MoveForTimeCommand(m_robotSwerveDrive, new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true), - new ConditionalCommand( - new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator), + // new ConditionalCommand( + // new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator), new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator), - () -> m_robotElevator.hasCoral()), + // () -> m_robotElevator.hasCoral()), @@ -511,6 +511,10 @@ public class RobotContainer { NamedCommands.registerCommand("place-coral-left-l2", AprilLidarAlignL2Left); NamedCommands.registerCommand("place-coral-right-l2", AprilLidarAlignL2Right); + + NamedCommands.registerCommand("lower-algae-removal", lowerAlgaeRemove); + NamedCommands.registerCommand("upper-algae-removal", upperAlgaeRemove); + NamedCommands.registerCommand("prepare-l4", new SequentialCommandGroup( // new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Hovering)), // new waitElevatorRefrence(m_robotElevator), @@ -830,7 +834,15 @@ public class RobotContainer { } autoChooser.onChange((filename) -> { - autoCommand = new PathPlannerAuto(filename); + if (filename.equals("Taxi")) { + autoCommand = new SequentialCommandGroup( + new MoveForTimeCommand(m_robotSwerveDrive, + new Translation2d(0, -1), + new Translation2d(), 1000, true + ), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)); + } else { + autoCommand = new PathPlannerAuto(filename); + } System.out.println("Robot Auto Changed " + filename); }); // SmartDashboard.putData(autoChooser); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 8ba2b72..0fb38ef 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -118,6 +118,7 @@ public class SwerveDrive extends Subsystem { } public void setOdoPose(Pose2d pose) { + if (pose == null) return; initalPose2d = pose; swerveDriveTrain.resetPose(pose); }