def enabled(self, enabled: bool) -> None:
if self.collision_model:
if not self._enabled and enabled:
assert self.id not in scene_service.collision_ids()
scene_service.upsert_collision(self.collision_model, self.pose)
if self._enabled and not enabled:
# TODO not sure if it's intentional, but stopped scene service 0.4.2 returns empty list of collision IDs
# assert self.id in scene_service.collision_ids()
scene_service.delete_collision_id(self.id)
self._enabled = enabled
def main() -> None:
# robots
aubo = Aubo(uid("rbt"), "Whatever", Pose(), RobotSettings("http://127.0.0.1:13000", "aubo"))
simatic = Aubo(uid("rbt"), "Whatever", Pose(), RobotSettings("http://127.0.0.1:13001", "simatic"))
# objects with pose, with 'System' and 'Configurations' controllers
barcode = Barcode(uid("srv"), "Whatever", Pose(), settings=Settings("http://127.0.0.1:14000", "simulator"))
search = Search(uid("srv"), "Whatever", Pose(), settings=Settings("http://127.0.0.1:12000", "simulator"))
ict = Ict(uid("srv"), "Whatever", Pose(), settings=Settings("http://127.0.0.1:19000", "simulator"))
# objects without pose, without 'System' and 'Configurations' controllers
interaction = Interaction(uid("srv"), "Whatever", SimpleSettings("http://127.0.0.1:17000"))
statistic = Statistic(uid("srv"), "Whatever", SimpleSettings("http://127.0.0.1:16000"))
# Add @action decorator to all actions of each object using patch_object_actions.
# It has to be called exactly once for each type!
# Certain functions of Execution unit (as e.g. pausing script execution) would not work without this step.
# Note: in a generated script, this is done within the Resources context manager.
# Side effect: a lot of JSON data will be printed out to the console when running the script manually.
patch_object_actions(Aubo)
patch_object_actions(Barcode)
patch_object_actions(Search)
patch_object_actions(Ict)
patch_object_actions(Interaction)
patch_object_actions(Statistic)
scene_service.delete_all_collisions()
scene_service.upsert_collision(Box("box_id", 0.1, 0.1, 0.1), Pose())
scene_service.start() # this is normally done by auto-generated Resources class
aubo.move("suction", Pose(), MoveTypeEnum.SIMPLE, safe=False)
simatic.set_joints(ProjectRobotJoints("", "", [Joint("x", 0), Joint("y", 0)]), MoveTypeEnum.SIMPLE)
barcode.scan()
search.set_search_parameters(SearchEngineParameters(search_log_level=SearchLogLevel(LogLevel.DEBUG)))
search.grab_image()
interaction.add_notification("Test", NotificationLevelEnum.INFO)
try:
statistic.get_groups()
except rest.RestHttpException as e:
# service returned error code
print(f"The error code is {e.error_code}.")
except rest.RestException as e:
# request totally failed (timeout, connection error, etc)
print(str(e))
if ict.ready():
test = ict.test("OK")
print(test)
scene_service.stop() # this is normally done by auto-generated Resources class
def __init__(
self,
obj_id: str,
name: str,
pose: Pose,
collision_model: Optional[Models] = None,
settings: Optional[Settings] = None,
) -> None:
super(GenericWithPose, self).__init__(obj_id, name, settings)
self._pose = pose
self.collision_model = copy.deepcopy(collision_model)
self._enabled = True
if self.collision_model:
# originally, each model has id == object type (e.g. BigBox) but here we need to set it to something unique
self.collision_model.id = self.id
scene_service.upsert_collision(self.collision_model, pose)
def pose(self, pose: Pose) -> None:
self._pose = pose
if self.collision_model and self._enabled:
scene_service.upsert_collision(self.collision_model, pose)