def test_abstract_robot() -> None:
check_object_type(AbstractRobot)
assert AbstractRobot.abstract()
assert inspect.signature(
AbstractRobot.move_to_joints) == inspect.signature(
Robot.move_to_joints)
def test_dobot_m1() -> None:
check_object_type(DobotM1)
assert not DobotM1.abstract()
assert inspect.signature(
DobotM1.set_hand_teaching_mode) == inspect.signature(
Robot.set_hand_teaching_mode)
def upload_def(type_def: Type[Generic], model: Optional[Models] = None, urdf: Optional[Urdf] = None) -> None:
if not issubclass(type_def, GenericWithPose) and model:
raise UploadException("Object without pose can't have collision model.")
try:
check_object_type(type_def)
except Arcor2Exception as e:
print(e)
raise UploadException(f"There is something wrong with source code of '{type_def.__name__}'.")
obj_type = ObjectType(
id=type_def.__name__, source=get_containing_module_sources(type_def), description=type_def.description()
)
if model:
obj_type.model = model.metamodel()
ps.put_model(model)
print(f"Storing '{obj_type.id}'...")
ps.update_object_type(obj_type)
if urdf:
if not os.path.isdir(urdf.path_to_directory):
print(f"{urdf.path_to_directory} is not a directory.")
return
print(f"Storing URDF package for '{obj_type.id}'.")
paths: List[str] = []
# full path is in form src/python/arcor2_fit_demo/data/dobot-m1/dobot_m1_description/meshes
# so we need to remove the prefix (e.g. src/python/arcor2_fit_demo/data/dobot-m1)
# let's find the prefix...
for root, _, files in os.walk(urdf.path_to_directory):
for filename in files:
paths.append(os.path.join(root, filename))
prefix = os.path.commonpath(paths)
mem_zip = BytesIO()
with zipfile.ZipFile(mem_zip, mode="w", compression=zipfile.ZIP_DEFLATED) as zf:
for root, _, files in os.walk(urdf.path_to_directory):
for filename in files:
path = os.path.join(root, filename)
# in the archive, the path will be without the prefix
zf.write(path, os.path.relpath(path, prefix))
mem_zip.seek(0)
ps.upload_mesh_file(urdf.archive_name, mem_zip.getvalue())
def test_object_type() -> None:
check_object_type(GenericWithPose)
assert GenericWithPose.abstract()
def test_object_type() -> None:
check_object_type(Interaction)
assert not Interaction.abstract()
def test_object_type() -> None:
check_object_type(Generic)
assert Generic.abstract()
def test_object_type() -> None:
check_object_type(Ict)
assert not Ict.abstract()
def upload_def(
type_def: type[Generic],
model: Optional[Models] = None,
urdf: Optional[Urdf] = None,
file_to_upload: Optional[str] = None,
) -> None:
"""Uploads ObjectType definition to the Project service.
:param type_def: Class definition.
:param model: Collision model.
:param urdf: If the type is robot, path to its URDF can be given here.
:param file_to_upload: Path to a file. Used e.g. to upload a mesh together with the ObjectType.
:return:
"""
if not issubclass(type_def, Robot) and urdf:
raise UploadException("Parameter 'urdf' set for non-Robot.")
try:
check_object_type(type_def)
except Arcor2Exception as e:
raise UploadException(
f"{type_def.__name__} is not a valid ObjectType. {str(e)}")
obj_type = ObjectType(id=type_def.__name__,
source=get_containing_module_sources(type_def),
description=type_def.description())
if issubclass(type_def, CollisionObject):
if not model:
raise UploadException(
"Parameter 'model' must be set for CollisionObject.")
if model.id != obj_type.id:
raise UploadException(
"Model id have to be the same as ObjectType id.")
obj_type.model = model.metamodel()
if isinstance(model, Mesh):
if not type_def.mesh_filename:
raise UploadException("Mesh filename not set.")
if not file_to_upload:
raise UploadException(
"For mesh collision model, file_to_upload parameter have to be set."
)
try:
with open(file_to_upload, "rb") as f:
ps.upload_file(type_def.mesh_filename, f.read())
except OSError as e:
raise UploadException(f"Failed to read mesh file. {str(e)}")
ps.put_model(model)
else:
if model:
raise UploadException(
"Parameter 'model' set for non-CollisionObject.")
print(f"Storing '{obj_type.id}'...")
ps.update_object_type(obj_type)
if urdf:
if not os.path.isdir(urdf.path_to_directory):
print(f"{urdf.path_to_directory} is not a directory.")
return
print(f"Storing URDF package for '{obj_type.id}'.")
paths: list[str] = []
# full path is in form src/python/arcor2_fit_demo/data/dobot-m1/dobot_m1_description/meshes
# so we need to remove the prefix (e.g. src/python/arcor2_fit_demo/data/dobot-m1)
# let's find the prefix...
for root, _, files in os.walk(urdf.path_to_directory):
for filename in files:
paths.append(os.path.join(root, filename))
prefix = os.path.commonpath(paths)
mem_zip = BytesIO()
with zipfile.ZipFile(mem_zip,
mode="w",
compression=zipfile.ZIP_DEFLATED) as zf:
for root, _, files in os.walk(urdf.path_to_directory):
for filename in files:
path = os.path.join(root, filename)
# in the archive, the path will be without the prefix
zf.write(path, os.path.relpath(path, prefix))
mem_zip.seek(0)
ps.upload_file(urdf.archive_name, mem_zip.getvalue())
def test_object_type() -> None:
check_object_type(Robot)
assert Robot.abstract()
def test_object_type() -> None:
check_object_type(Statistic)
assert not Statistic.abstract()
def test_logic_actions() -> None:
check_object_type(LogicActions)
assert not LogicActions.abstract()
def test_time_actions() -> None:
check_object_type(TimeActions)
assert not TimeActions.abstract()
def test_object_type() -> None:
check_object_type(Search)
assert not Search.abstract()
def test_object_type() -> None:
check_object_type(AbstractWithPose)
assert AbstractWithPose.abstract()
def test_abstract() -> None:
check_object_type(YuMi)
assert not YuMi.abstract()
def test_object_type() -> None:
check_object_type(Aubo)
assert not Aubo.abstract()
def test_abstract_dobot() -> None:
check_object_type(AbstractDobot)
assert AbstractDobot.abstract()
def test_dobot_magician() -> None:
check_object_type(DobotMagician)
assert not DobotMagician.abstract()
def test_random_actions() -> None:
check_object_type(RandomActions)
def test_abstract_simple() -> None:
check_object_type(AbstractSimple)
assert AbstractSimple.abstract()
def test_object_type() -> None:
check_object_type(Barcode)
assert not Barcode.abstract()
