def example_manipulation_protobuf_list():
# In protobuf, list are called repeated once they are affected to a python
# variable they can be used as a normal list.
# Take note that a repeated message field doesn't have an append() function, it has an
# add() function that create the new message object.
# For this example we will use those two messages
# message Sequence {
# SequenceHandle handle = 1
# string name = 2
# string application_data = 3
# repeated SequenceTask tasks = 4
# }
# message SequenceTask {
# uint32 group_identifier = 1;
# Action action = 2;
# string application_data = 3;
# }
# To keep a clearer example the attribute action in SequenceTask message will be keep to default value
# Here's 2 way to add to a repeated message field
# Create the parent message
sequence = Base_pb2.Sequence()
sequence.name = "Sequence"
# The extend way
sequence_task_1 = Base_pb2.SequenceTask()
sequence_task_1.group_identifier = 10
action = sequence_task_1.action
action = Base_pb2.Action() # Using Action default constructor
sequence.tasks.extend([sequence_task_1]) # Extend expect an iterable
# Created for the add() function unique to repeated message field
sequence_task_2 = sequence.tasks.add()
sequence_task_2.group_identifier = 20
action = sequence_task_2.action
action = Base_pb2.Action() # Using Action default constructor
# Since sequence.task is a list we can use all the python toolset to
# loop, iterate, interogate and print element in that list
for i in range(len(sequence.tasks)):
print("sequence ID with index : {0}".format(
sequence.tasks[i].group_identifier))
# The list still have the iterator proprety of python list so you can directly iterate
# throught element without creating a iterator like previous example
for task in sequence.tasks:
print("sequence ID with object iterator : {0}".format(
task.group_identifier))
def example_manipulation_protobuf_list():
# In Google Protocol Buffer, 'repeated' is used to designate a list of indeterminate length. Once affected to a Python
# variable they can be used in the same way as a standard list.
# Note that a repeated message field doesn't have an append() function, it has an
# add() function that create the new message object.
# For this example we will use the following two messages
# message Sequence {
# SequenceHandle handle = 1
# string name = 2
# string application_data = 3
# repeated SequenceTask tasks = 4
# }
# message SequenceTask {
# uint32 group_identifier = 1;
# Action action = 2;
# string application_data = 3;
# }
# For a clearer example the attribute action in SequenceTask message will be kept to default value
# Here's two ways to add to a repeated message field
# Create the parent message
sequence = Base_pb2.Sequence()
sequence.name = "Sequence"
# The 'extend' way
sequence_task_1 = Base_pb2.SequenceTask()
sequence_task_1.group_identifier = 10
action = sequence_task_1.action
action = Base_pb2.Action() # Using Action default constructor
sequence.tasks.extend([sequence_task_1]) # Extend expect an iterable
# Created for the add() function unique to repeated message field
sequence_task_2 = sequence.tasks.add()
sequence_task_2.group_identifier = 20
action = sequence_task_2.action
action = Base_pb2.Action() # Using Action default constructor
# Since sequence.task is a list we can use all the Python features to
# loop, iterate, interogate and print elements in that list.
for i in range(len(sequence.tasks)):
print("sequence ID with index : {0}".format(
sequence.tasks[i].group_identifier))
# Lists have the iterator property of a Python list, so you can directly iterate
# throught element without creating a iterator as in the previous example
for task in sequence.tasks:
print("sequence ID with object iterator : {0}".format(
task.group_identifier))
def create_angular_action():
print("Creating angular action")
action = Base_pb2.Action()
action.name = "Example angular action"
action.application_data = ""
angle_value = [0, 0, 0, 0, 0, 0, 0]
for joint_id in range(7):
joint_angle = action.reach_joint_angles.joint_angles.joint_angles.add()
joint_angle.value = angle_value[joint_id]
return action
def create_cartesian_action():
print("Creating cartesian action")
action = Base_pb2.Action()
action.name = "Example cartesian action"
action.application_data = ""
cartesian_pose = action.reach_pose.target_pose
cartesian_pose.x = 0.80 # (meters)
cartesian_pose.y = 0 # (meters)
cartesian_pose.z = 0.36 # (meters)
cartesian_pose.theta_x = 10 # (degrees)
cartesian_pose.theta_y = 90 # (degrees)
cartesian_pose.theta_z = 10 # (degrees)
return action
def angular_movement(base_client_service):
print("Starting angular motion ...")
action = Base_pb2.Action()
action.name = "Example angular motion"
action.application_data = ""
angle_value = [0, 0, 0, 0, 0, 0, 0] # arm straight up
for joint_id in range(7):
joint_angle = action.reach_joint_angles.joint_angles.joint_angles.add()
joint_angle.joint_identifier = joint_id
joint_angle.value = angle_value[joint_id]
print("Executing action")
base_client_service.ExecuteAction(action)
print("Waiting 10 seconds to finish movement...")
time.sleep(10)
print("Angular movement finish")
def cartesian_movement(base_client_service):
print("Starting Cartesian motion ...")
action = Base_pb2.Action()
action.name = "Example Cartesian motion"
action.application_data = ""
cartesian_pose = action.reach_pose.target_pose
cartesian_pose.x = 0.80 # (meters)
cartesian_pose.y = 0 # (meters)
cartesian_pose.z = 0.36 # (meters)
cartesian_pose.theta_x = 10 # (degrees)
cartesian_pose.theta_y = 90 # (degrees)
cartesian_pose.theta_z = 10 # (degrees)
print("Executing action")
base_client_service.ExecuteAction(action)
print("Waiting 20 seconds for motion to finish ...")
time.sleep(20)
print("Cartesian motion ended")
def example_manipulation_protobuf_helpers():
# Google offers some helpers with protobuf
# We will cover some of them in this section
# All the module google.protobuf documentation is available here:
# https://developers.google.com/protocol-buffers/docs/reference/python/
# First, the function include with message instance. We will cover the next function
# Clear
# MergeFrom
# CopyFrom
# The Clear function is strainght forward it clear all the message attribute.
# MergeFrom and CopyFrom have the same purpose, To duplicate data into another object.
# The difference between them is CopyFrom will do a Clear before a MergeFrom.
# For it's part MergeFrom will merge data if the new field is not empty.
# In case of repeated, the content receive in parameter will be append
# For this example, I'll used the Ssid message
# message Ssid {
# string identifier = 1;
# }
# First I'll create 4 of them with unique string
ssid_1 = Base_pb2.Ssid()
ssid_1.identifier = ""
ssid_2 = Base_pb2.Ssid()
ssid_2.identifier = "123"
ssid_3 = Base_pb2.Ssid()
ssid_3.identifier = "@#$"
# Now I'll Merge ssid_1 in ssid_2 and print the identifier of ssid_2
ssid_2.MergeFrom(ssid_1)
print("Content ssid_2: {0}".format(ssid_2.identifier))
# output : Content ssid_2: 123
# Now I'll Copy ssid_1 in ssid_3 and print the identifier of ssid_3
ssid_3.CopyFrom(ssid_1)
print("Content ssid_3: {0}".format(ssid_3.identifier))
# output : Content ssid_3:
# For more function visit the Class Message documentation
# https://developers.google.com/protocol-buffers/docs/reference/python/google.protobuf.message.Message-class
# From the protobuf library you can used the json_format module.
# One useful function is the MessageToJson.
# This function serialize the protobuf message to a json object it help alot when you want to print large object in
# a human readable way.
# Here's an example with the following two message
# message Sequence {
# SequenceHandle handle = 1
# string name = 2
# string application_data = 3
# repeated SequenceTask tasks = 4
# }
# message SequenceTask {
# uint32 group_identifier = 1;
# Action action = 2;
# string application_data = 3;
# }
# I quickly populate the message
sequence = Base_pb2.Sequence()
sequence.name = "A Name"
for i in range(5):
sequence_task = sequence.tasks.add()
sequence_task.group_identifier = 10 * (
i + 1) # Some further function doesn't print if value = 0
action = sequence_task.action
action = Base_pb2.Action() # Using Action default constructor
# We need to import the module
from google.protobuf import json_format
# Now to get the json object
json_object = json_format.MessageToJson(sequence)
# Now you can print it
print("Json object")
print(json_object)
# output:
# Json object
# {
# "name": "A Name",
# "tasks": [
# {
# "groupIdentifier": 10
# },
# {
# "groupIdentifier": 20
# },
# {
# "groupIdentifier": 30
# },
# {
# "groupIdentifier": 40
# },
# {
# "groupIdentifier": 50
# }
# ]
# }
# From the protobuf library you can used the text_format module
# A useful function is the MessageToString. It has the same purpose of
# MessageToJson convert the message to a human readable format
# For the example I'll reuse the sequence object created in previous example
# First import the module
from google.protobuf import text_format
# Now print
print("Text format")
print(text_format.MessageToString(sequence))