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visualization client: Create client, implement ComputeRobotConfigsFor…
…GraspVisualization visualization client: Add GetTranslationForShadowTarget visualization-manager: Migrate ClearPackingStateVisualization() and VisualizePackFormationResult() from binpicking
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Tan Li Boon
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Jun 29, 2022
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python/mujincontrollerclient/realtimeitlplanningclient.py
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,116 @@ | ||
| # -*- coding: utf-8 -*- | ||
| # Copyright (C) 2013-2015 MUJIN Inc. | ||
| # Mujin controller client for bin picking task | ||
|
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| # mujin imports | ||
| from . import realtimerobotclient | ||
|
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| # logging | ||
| import logging | ||
| log = logging.getLogger(__name__) | ||
|
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|
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| class RealtimeITLPlanningControllerClient(realtimerobotclient.RealtimeRobotControllerClient): | ||
| """Mujin controller client for realtimeitlplanning task | ||
| """ | ||
|
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| def __init__(self, **kwargs): | ||
| """Logs into the mujin controller, initializes realtimeitlplanning task, and sets up parameters | ||
| :param controllerurl: URL of the mujin controller, e.g. http://controller13 | ||
| :param controllerusername: Username of the mujin controller, e.g. testuser | ||
| :param controllerpassword: Password of the mujin controller | ||
| :param taskzmqport: Port of the realtimeitlplanning task's zmq server, e.g. 7110 | ||
| :param taskheartbeatport: Port of the realtimeitlplanning task's zmq server's heartbeat publisher, e.g. 7111 | ||
| :param taskheartbeattimeout: Seconds until reinitializing realtimeitlplanning task's zmq server if no heartbeat is received, e.g. 7 | ||
| :param scenepk: Primary key (pk) of the bin picking task scene, e.g. komatsu_ntc.mujin.dae | ||
| :param robotname: Name of the robot, e.g. VP-5243I | ||
| :param robotspeed: Speed of the robot, e.g. 0.4 | ||
| :param regionname: Name of the bin, e.g. container1 | ||
| :param targetname: Name of the target, e.g. plasticnut-center | ||
| :param toolname: Name of the manipulator, e.g. 2BaseZ | ||
| :param envclearance: Environment clearance in millimeters, e.g. 20 | ||
| :param usewebapi: Whether to use webapi for controller commands | ||
| :param robotaccelmult: Optional multiplier for forcing the acceleration | ||
| """ | ||
| super(RealtimeITLPlanningControllerClient, self).__init__(tasktype='realtimeitlplanning', **kwargs) | ||
|
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| def SetJointValues(self, jointvalues, robotname=None, timeout=10, usewebapi=True, **kwargs): | ||
| taskparameters = { | ||
| 'command': 'SetJointValues', | ||
| 'jointvalues': jointvalues, | ||
| } | ||
| taskparameters.update(kwargs) | ||
| return self.ExecuteCommand(taskparameters, robotname=robotname, timeout=timeout, usewebapi=usewebapi) | ||
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| def GetITLState(self, robotname=None, timeout=10, usewebapi=True, fireandforget=False, **kwargs): | ||
| taskparameters = {'command': 'GetITLState'} | ||
| taskparameters.update(kwargs) | ||
| return self.ExecuteCommand(taskparameters, robotname=robotname, timeout=timeout, usewebapi=usewebapi, fireandforget=fireandforget) | ||
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| def MoveToCommand(self, program, commandindex=0, envclearance=15, robotspeed=None, robotaccelmult=None, usewebapi=True, timeout=10, fireandforget=False): | ||
| taskparameters = { | ||
| 'command': 'MoveToCommand', | ||
| 'program': program, | ||
| 'commandindex': commandindex, | ||
| 'envclearance': envclearance, | ||
| } | ||
| if robotspeed is not None: | ||
| taskparameters['robotspeed'] = robotspeed | ||
| if robotaccelmult is not None: | ||
| taskparameters['robotaccelmult'] = robotaccelmult | ||
| return self.ExecuteCommand(taskparameters, usewebapi=usewebapi, timeout=timeout, fireandforget=fireandforget) | ||
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| def ExecuteTrajectory(self, identifier, trajectories, statevalues=None, stepping=False, istep=None, cycles=1, restorevalues=None, envclearance=15, robotspeed=None, robotaccelmult=None, usewebapi=True, timeout=10, fireandforget=False): | ||
| taskparameters = { | ||
| 'command': 'ExecuteTrajectory', | ||
| 'identifier': identifier, | ||
| 'trajectories': trajectories, | ||
| 'statevalues': statevalues, | ||
| 'stepping': stepping, | ||
| 'envclearance': envclearance, | ||
| 'cycles': cycles, | ||
| } | ||
| if istep is not None: | ||
| taskparameters['istep'] = istep | ||
| if restorevalues is not None: | ||
| taskparameters['restorevalues'] = restorevalues | ||
| if robotspeed is not None: | ||
| taskparameters['robotspeed'] = robotspeed | ||
| if robotaccelmult is not None: | ||
| taskparameters['robotaccelmult'] = robotaccelmult | ||
| return self.ExecuteCommand(taskparameters, usewebapi=usewebapi, timeout=timeout, fireandforget=fireandforget) | ||
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| def ExecuteTrajectoryStep(self, reverse=False, envclearance=15, robotspeed=None, robotaccelmult=None, usewebapi=True, timeout=10, fireandforget=False): | ||
| taskparameters = { | ||
| 'command': 'ExecuteTrajectoryStep', | ||
| 'reverse': reverse, | ||
| } | ||
| if robotspeed is not None: | ||
| taskparameters['robotspeed'] = robotspeed | ||
| if robotaccelmult is not None: | ||
| taskparameters['robotaccelmult'] = robotaccelmult | ||
| return self.ExecuteCommand(taskparameters, usewebapi=usewebapi, timeout=timeout, fireandforget=fireandforget) | ||
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| def CancelExecuteTrajectoryStep(self, envclearance=15, robotspeed=None, robotaccelmult=None, usewebapi=True, timeout=10, fireandforget=False): | ||
| taskparameters = {'command': 'CancelExecuteTrajectoryStep'} | ||
| if robotspeed is not None: | ||
| taskparameters['robotspeed'] = robotspeed | ||
| if robotaccelmult is not None: | ||
| taskparameters['robotaccelmult'] = robotaccelmult | ||
| return self.ExecuteCommand(taskparameters, usewebapi=usewebapi, timeout=timeout, fireandforget=fireandforget) | ||
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| def SetPauseExecuteTrajectory(self, envclearance=15, robotspeed=None, robotaccelmult=None, usewebapi=True, timeout=10, fireandforget=False): | ||
| taskparameters = {'command': 'SetPauseExecuteTrajectory'} | ||
| if robotspeed is not None: | ||
| taskparameters['robotspeed'] = robotspeed | ||
| if robotaccelmult is not None: | ||
| taskparameters['robotaccelmult'] = robotaccelmult | ||
| return self.ExecuteCommand(taskparameters, usewebapi=usewebapi, timeout=timeout, fireandforget=fireandforget) | ||
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| def ResumeExecuteTrajectory(self, envclearance=15, robotspeed=None, robotaccelmult=None, usewebapi=True, timeout=10, fireandforget=False): | ||
| taskparameters = {'command': 'ResumeExecuteTrajectory'} | ||
| if robotspeed is not None: | ||
| taskparameters['robotspeed'] = robotspeed | ||
| if robotaccelmult is not None: | ||
| taskparameters['robotaccelmult'] = robotaccelmult | ||
| return self.ExecuteCommand(taskparameters, usewebapi=usewebapi, timeout=timeout, fireandforget=fireandforget) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,102 @@ | ||
| # -*- coding: utf-8 -*- | ||
| # Copyright (C) 2022 MUJIN Inc. | ||
| # Mujin controller client for visualization task | ||
|
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||
| from . import realtimerobotclient | ||
|
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| # logging | ||
| import logging | ||
| log = logging.getLogger(__name__) | ||
|
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| class VisualizationClient(realtimerobotclient.RealtimeRobotControllerClient): | ||
| """Mujin controller client for visualization tasks | ||
| """ | ||
| tasktype = 'visualization' | ||
|
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| def __init__(self, **kwargs): | ||
| """Logs into the mujin controller, initializes realtimeitlplanning3 task, and sets up parameters | ||
| :param controllerurl: URL of the mujin controller, e.g. http://controller13 | ||
| :param controllerusername: Username of the mujin controller, e.g. testuser | ||
| :param controllerpassword: Password of the mujin controller | ||
| :param taskzmqport: Port of the realtimeitlplanning3 task's zmq server, e.g. 7110 | ||
| :param taskheartbeatport: Port of the realtimeitlplanning3 task's zmq server's heartbeat publisher, e.g. 7111 | ||
| :param taskheartbeattimeout: Seconds until reinitializing realtimeitlplanning3 task's zmq server if no heartbeat is received, e.g. 7 | ||
| :param scenepk: Primary key (pk) of the bin picking task scene, e.g. komatsu_ntc.mujin.dae | ||
| :param robotname: Name of the robot, e.g. VP-5243I | ||
| :param robotspeed: Speed of the robot, e.g. 0.4 | ||
| :param regionname: Name of the bin, e.g. container1 | ||
| :param targetname: Name of the target, e.g. plasticnut-center | ||
| :param toolname: Name of the manipulator, e.g. 2BaseZ | ||
| :param envclearance: Environment clearance in millimeters, e.g. 20 | ||
| :param usewebapi: Whether to use webapi for controller commands | ||
| :param robotaccelmult: Optional multiplier for forcing the acceleration | ||
| """ | ||
| super(VisualizationClient, self).__init__(tasktype=self.tasktype, **kwargs) | ||
|
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| def SetVisualizationState(self, visualizationState, timeout=10, fireandforget=False, **kwargs): | ||
| # type: (dict, int, bool, dict) -> dict | None | ||
| taskparameters = { | ||
| 'command': 'SetVisualizationState', | ||
| 'visualizationState': visualizationState, | ||
| } | ||
| taskparameters.update(kwargs) | ||
| return self.ExecuteCommand(taskparameters, usewebapi=False, timeout=timeout, fireandforget=fireandforget) | ||
|
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| def ComputeRobotConfigsForGraspVisualization(self, targetname, graspname, robotname=None, toolname=None, unit='mm', usewebapi=False, timeout=10, **kwargs): | ||
| """Returns robot configs for grasp visualization | ||
| Args: | ||
| targetname (str): | ||
| graspname (str): | ||
| robotname (str, optional): Name of the robot | ||
| toolname (str, optional): Name of the manipulator. Default: self.toolname | ||
| unit (str, optional): (Default: 'mm') | ||
| usewebapi (bool, optional): If True, send command through Web API. Otherwise, through ZMQ. (Default: False) | ||
| timeout (float, optional): (Default: 10) | ||
| """ | ||
| taskparameters = { | ||
| 'command': 'ComputeRobotConfigsForGraspVisualization', | ||
| 'targetname': targetname, | ||
| 'graspname': graspname | ||
| } | ||
| if unit is not None: | ||
| taskparameters['unit'] = unit | ||
| taskparameters.update(kwargs) | ||
| return self.ExecuteCommand(taskparameters, robotname=robotname, toolname=toolname, usewebapi=usewebapi, timeout=timeout) | ||
|
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| def GetTranslationForShadowTarget(self, ikparammeta=None, uri=None, localTargetDir=None, timeout=10, **kwargs): | ||
| taskparameters = { | ||
| 'command': 'GetTranslationForShadowTarget', | ||
| 'uri': uri, | ||
| 'ikparammeta': ikparammeta, | ||
| } | ||
| if localTargetDir: | ||
| taskparameters['localTargetDir'] = localTargetDir | ||
| taskparameters.update(kwargs) | ||
| return self.ExecuteCommand(taskparameters, usewebapi=False, timeout=timeout) | ||
|
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| #SetCameraTransforms, SetViewerParameters inherited from PlanningControllerClient | ||
|
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| # | ||
| # From binpickingui yet | ||
| # | ||
|
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| def ClearPackingStateVisualization(self, timeout=10, usewebapi=None, fireandforget=False, **kwargs): | ||
| """ | ||
| Clear packing visualization | ||
| """ | ||
| taskparameters = { | ||
| 'command': 'ClearPackingStateVisualization', | ||
| } | ||
| taskparameters.update(kwargs) | ||
| return self.ExecuteCommand(taskparameters, timeout=timeout, usewebapi=usewebapi, fireandforget=fireandforget) | ||
|
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| def VisualizePackFormationResult(self, timeout=10, usewebapi=None, fireandforget=False, **kwargs): | ||
| """stops the packing computation thread thread started with StartPackFormationComputationThread | ||
| :param initializeCameraPosition: bool. reset camera position | ||
| """ | ||
| taskparameters = { | ||
| 'command': 'VisualizePackFormationResult', | ||
| } | ||
| taskparameters.update(kwargs) | ||
| return self.ExecuteCommand(taskparameters, timeout=timeout, usewebapi=usewebapi, fireandforget=fireandforget) |