class MyGLViewer(GLWidgetPlugin):
def __init__(self, world):
GLWidgetPlugin.__init__(self)
self.world = world
self.robot = world.robot(0)
self.subrobots = []
for i in range(6):
self.subrobots.append(
SubRobotModel(self.robot, list(range(6 + i * 6, 12 + i * 6))))
(res, val) = editors.run(
editors.SelectionEditor("subrobot",
self.subrobots[0]._links,
description="sub robot links",
world=world,
robot=self.robot))
if res:
print("Return value", val)
self.subrobots[0]._links = val
self.startConfig = self.robot.getConfig()
self.robotWidget = RobotPoser(world.robot(0))
self.robotWidget.setActiveDofs(self.subrobots[0]._links)
self.addWidget(self.robotWidget)
def keyboardfunc(self, c, x, y):
#Put your keyboard handler here
#the current example prints the config when [space] is pressed
if c == ' ':
config = self.robotWidget.get()
subconfig = self.subrobots[0].fromfull(config)
print("Config:", subconfig)
self.subrobots[0].setConfig(subconfig)
elif c == 'r':
self.subrobots[0].randomizeConfig()
self.robotWidget.set(self.robot.getConfig())
elif c == 'p':
config = self.robotWidget.get()
subconfig = self.subrobots[0].fromfull(config)
self.subrobots[0].setConfig(self.subrobots[0].fromfull(
self.startConfig))
settings = {
'type': "sbl",
'perturbationRadius': 0.5,
'bidirectional': 1,
'shortcut': 1,
'restart': 1,
'restartTermCond': "{foundSolution:1,maxIters:1000}"
}
plan = robotplanning.planToConfig(self.world,
self.subrobots[0],
subconfig,
movingSubset='all',
**settings)
plan.planMore(1000)
print(plan.getPath())
else:
GLWidgetPlugin.keyboardfunc(self, c, x, y)
class MyGLViewer(GLWidgetPlugin):
def __init__(self, world):
GLWidgetPlugin.__init__(self)
self.world = world
self.robot = world.robot(0)
self.subrobots = []
for i in range(6):
self.subrobots.append(
SubRobotModel(self.robot, list(range(6 + i * 6, 12 + i * 6))))
(res, val) = editors.run(
editors.SelectionEditor("subrobot",
self.subrobots[0]._links,
description="sub robot links",
world=world,
robot=self.robot))
if res:
print("Return value", val)
self.subrobots[0]._links = val
self.startConfig = self.robot.getConfig()
self.robotWidget = RobotPoser(world.robot(0))
self.robotWidget.setActiveDofs(self.subrobots[0]._links)
self.addWidget(self.robotWidget)
def keyboardfunc(self, c, x, y):
#Put your keyboard handler here
#the current example prints the config when [space] is pressed
if c == 'h' or c == '?':
print("Controls:")
print("- [space]: print the widget's sub-robot configuration")
print("- r: randomize the sub-robot configuration")
print("- p: plan to the widget's sub-robot configuration")
print("- i: test the IK functions")
elif c == ' ':
config = self.robotWidget.get()
subconfig = self.subrobots[0].fromfull(config)
print("Config:", subconfig)
self.subrobots[0].setConfig(subconfig)
elif c == 'r':
self.subrobots[0].randomizeConfig()
self.robotWidget.set(self.robot.getConfig())
elif c == 'p':
config = self.robotWidget.get()
subconfig = self.subrobots[0].fromfull(config)
self.subrobots[0].setConfig(self.subrobots[0].fromfull(
self.startConfig))
settings = {
'type': "sbl",
'perturbationRadius': 0.5,
'bidirectional': 1,
'shortcut': 1,
'restart': 1,
'restartTermCond': "{foundSolution:1,maxIters:1000}"
}
plan = robotplanning.planToConfig(self.world,
self.subrobots[0],
subconfig,
movingSubset='all',
**settings)
plan.planMore(1000)
print(plan.getPath())
elif c == 'i':
link = self.subrobots[0].link(self.subrobots[0].numLinks() - 1)
print("IK solve for ee to go 10cm upward...")
obj = ik.objective(link,
local=[0, 0, 0],
world=vectorops.add(
link.getWorldPosition([0, 0, 0]),
[0, 0, 0.1]))
solver = ik.solver(obj)
res = solver.solve()
print(" result", res)
print(" residual", solver.getResidual())
print(self.robotWidget.set(self.robot.getConfig()))
else:
GLWidgetPlugin.keyboardfunc(self, c, x, y)
class KeyboardAutoTrackTaskGenerator(TaskGenerator):
"""Allows the user to interact with the model by right clicking
using the mouse and pressing space bar to send the milestone.
Also demonstrates how to write a Python plugin task with an OpenGL
widget.
"""
def __init__(self):
self.plugin = None
self.q = None
def callback(self, data):
self.marker = data
self.marker_pos[0] = self.marker.pose.position.x
self.marker_pos[1] = self.marker.pose.position.y
self.marker_pos[2] = self.marker.pose.position.z
#=== transform to world coordinate
marker = se3.apply(kinect_frame_to_pedestal, tuple(self.marker_pos))
self.marker_pos_tf = list(marker)
self.marker_pos_tf[2] = self.marker_pos_tf[2] + self.base_height
# print "marker_pos_tf = ", self.marker_pos_tf
def name(self): return "Keyboard"
def init(self,world):
self.world = world
self.robotPoser = RobotPoser(world.robot(0))
self.plugin = MyWidgetPlugin(self)
self.plugin.addWidget(self.robotPoser)
self.robot = world.robot(0)
left_arm_link_names = ['left_upper_shoulder','left_lower_shoulder','left_upper_elbow','left_lower_elbow','left_upper_forearm','left_lower_forearm','left_wrist']
right_arm_link_names = ['right_upper_shoulder','right_lower_shoulder','right_upper_elbow','right_lower_elbow','right_upper_forearm','right_lower_forearm','right_wrist']
base_link_names = ['base_x','base_y','base_yaw']
self.left_arm_link_indices = [self.robot.link(l).index for l in left_arm_link_names]
self.right_arm_link_indices = [self.robot.link(l).index for l in right_arm_link_names]
self.base_link_indices = [self.robot.link(l).index for l in base_link_names]
if any(v < 0 for v in self.left_arm_link_indices+self.right_arm_link_indices):
raise ValueError("Robot in world does not have Baxter's torso?")
# == subscribe marker position
self.marker = Marker()
self.base_height = 1.1
self.marker_pos = [0.0, 0.0, 0.0]
self.marker_pos_tf = [0.0, 0.0, 0.0]
rospy.init_node('marker_listener', anonymous=True)
rospy.Subscriber("/Marker_glove", Marker, self.callback, None)
#== auto tracking parameter
self.tracking_speed_ratio = 1.0
self.tracking_vel = [0.0, 0.0, 0.0]
self.left_ee_t = [0.0, 0.0, 0.0]
self.right_ee_t = [0.0, 0.0, 0.0]
self.reactive_vel_left_ee = [0.0, 0.0, 0.0]
self.reactive_vel_right_ee = [0.0, 0.0, 0.0]
return True
def start(self):
self._status = 'ok'
self.robotPoser.set(self.world.robot(0).getConfig())
self.serviceThread = ServiceThread()
self.serviceThread.start()
return True
def stop(self):
if self.serviceThread:
self.serviceThread.kill()
print "Waiting for thread join..."
self.serviceThread.join()
print "Done"
self.serviceThread = None
def getEE(self):
R1,t1 = self.serviceThread.eeGetter_left.get()
R2,t2 = self.serviceThread.eeGetter_right.get()
self.left_ee_t = list(t1)
self.right_ee_t = list(t2)
print "left hand EE = ", self.left_ee_t
print "right hand EE = ", self.right_ee_t
def cal_reactive_vel(self, pos_hand, pos_target, vel_ratio):
reactive_vel = [0.0, 0.0, 0.0]
pos_diff = vectorops.sub(tuple(pos_target), tuple(pos_hand))
pos_diff_norm = vectorops.norm(pos_diff)
if pos_diff_norm >= 0.02:
vel = vectorops.mul(pos_diff, vel_ratio)
reactive_vel = list(vel)
return reactive_vel
def get(self):
res = self.do_logic()
return res
def do_logic(self):
rospy.Subscriber("/Marker_glove", Marker, self.callback, None)
''' retract arm to initial position '''
if self.plugin.initialPose:
self.plugin.initialPose = False
self.q = self.robotPoser.get()
if self.plugin.selectedLimb == "both":
for i in range(len(self.left_arm_link_indices)):
idx = self.left_arm_link_indices[i]
self.q[idx] = q_init_left[i]
for i in range(len(self.right_arm_link_indices)):
idx = self.right_arm_link_indices[i]
self.q[idx] = q_init_right[i]
print "set both arms to initial pose"
if self.plugin.selectedLimb == "left":
for i in range(len(self.left_arm_link_indices)):
idx = self.left_arm_link_indices[i]
self.q[idx] = q_init_left[i]
print "set left arms to initial pose"
if self.plugin.selectedLimb == "right":
for i in range(len(self.right_arm_link_indices)):
idx = self.right_arm_link_indices[i]
self.q[idx] = q_init_right[i]
print "set right arms to initial pose"
self.robotPoser.set(self.q)
if self.plugin.tuckArmPose:
self.plugin.tuckArmPose = False
self.q = self.robotPoser.get()
if self.plugin.selectedLimb == "both":
for i in range(len(self.left_arm_link_indices)):
idx = self.left_arm_link_indices[i]
self.q[idx] = q_tuckarm_left[i]
for i in range(len(self.right_arm_link_indices)):
idx = self.right_arm_link_indices[i]
self.q[idx] = q_tuckarm_right[i]
print "Tuck both arms"
if self.plugin.selectedLimb == "left":
for i in range(len(self.left_arm_link_indices)):
idx = self.left_arm_link_indices[i]
self.q[idx] = q_tuckarm_left[i]
print "Tuck left arm"
if self.plugin.selectedLimb == "right":
for i in range(len(self.right_arm_link_indices)):
idx = self.right_arm_link_indices[i]
self.q[idx] = q_tuckarm_right[i]
print "Tuck right arm"
self.robotPoser.set(self.q)
''' Control - Robot arm and mobile base'''
if self.plugin.sendMilestone:
self.plugin.sendMilestone = False
self.q = self.robotPoser.get()
qcmd = self.world.robot(0).getConfig()
baseMoved = any(qcmd[i] != self.q[i] for i in self.base_link_indices)
leftArmMoved = any(qcmd[i] != self.q[i] for i in self.left_arm_link_indices)
rightArmMoved = any(qcmd[i] != self.q[i] for i in self.right_arm_link_indices)
moved = []
if baseMoved: moved.append('base')
if leftArmMoved: moved.append('left')
if rightArmMoved: moved.append('right')
targets = []
if baseMoved: targets.append([self.q[i] for i in self.base_link_indices])
if leftArmMoved: targets.append([self.q[i] for i in self.left_arm_link_indices])
if rightArmMoved: targets.append([self.q[i] for i in self.right_arm_link_indices])
print "Sending milestone",self.q,"parts",",".join(moved)
#CONSTRUCT THE TASK HERE
msg = {}
msg['type'] = 'JointPose'
msg['parts'] = moved
msg['positions'] = targets
msg['speed'] = 1
msg['safe'] = 0
return msg
''' Control - gripper '''
if self.plugin.gripperControl == True:
self.plugin.gripperControl = False
if self.plugin.gripperState == "open":
p = [1.0, 1.0, 1.0, 1.0]
if self.plugin.selectedLimb == "both":
p = p + p
elif self.plugin.gripperState == "close":
p = [0.3, 0.3, 0.3, 1.0]
if self.plugin.selectedLimb == "both":
p = p + p
msg = {}
msg['type'] = 'Gripper'
msg['limb'] = self.plugin.selectedLimb
msg['position'] = p
msg['force'] = 0.2
msg['speed'] = 0.5
return msg
''' Auto tracking '''
if self.plugin.trackPosition == True:
self.plugin.trackPosition_lastState = True
self.plugin.trackPosition = False
print "move to target: ", self.marker_pos_tf
self.getEE()
if self.plugin.selectedLimb == "both":
self.reactive_vel_left_ee = self.cal_reactive_vel(self.left_ee_t, self.marker_pos_tf, self.tracking_speed_ratio)
self.reactive_vel_right_ee = self.cal_reactive_vel(self.right_ee_t, self.marker_pos_tf, self.tracking_speed_ratio)
print "Use both left or right arm to track"
linear_vel = self.reactive_vel_left_ee + self.reactive_vel_right_ee
angular_vel = [0.0, 0.0, 0.0] + [0.0, 0.0, 0.0]
if self.plugin.selectedLimb == "left":
self.reactive_vel_left_ee = self.cal_reactive_vel(self.left_ee_t, self.marker_pos_tf, self.tracking_speed_ratio)
print "Move left arm to target at velocity: ", self.reactive_vel_left_ee
linear_vel = self.reactive_vel_left_ee
angular_vel = [0.0, 0.0, 0.0]
if self.plugin.selectedLimb == "right":
self.reactive_vel_right_ee = self.cal_reactive_vel(self.right_ee_t, self.marker_pos_tf, self.tracking_speed_ratio)
print "Move right arm to target"
linear_vel = self.reactive_vel_right_ee
angular_vel = [0.0, 0.0, 0.0]
msg = {}
msg['type'] = 'CartesianVelocity'
msg['limb'] = self.plugin.selectedLimb
msg['linear'] = linear_vel
msg['angular'] = angular_vel
return msg
if self.plugin.trackPosition_lastState == True:
self.plugin.trackPosition_lastState = False
print "last command is cartesian velocity ... "
if self.plugin.selectedLimb == "both":
linear_vel = [0.0, 0.0, 0.0] + [0.0, 0.0, 0.0]
angular_vel = [0.0, 0.0, 0.0] + [0.0, 0.0, 0.0]
if self.plugin.selectedLimb == "left":
linear_vel = [0.0, 0.0, 0.0]
angular_vel = [0.0, 0.0, 0.0]
if self.plugin.selectedLimb == "right":
linear_vel = [0.0, 0.0, 0.0]
angular_vel = [0.0, 0.0, 0.0]
msg = {}
msg['type'] = 'CartesianVelocity'
msg['limb'] = self.plugin.selectedLimb
msg['linear'] = linear_vel
msg['angular'] = angular_vel
return msg
return None
def glPlugin(self):
return self.plugin
class CustomGLViewer(GLRealtimeProgram):
def __init__(self, simworld=None, planworld=None, controller=None, sim=None, helper=None):
if simworld == None and planworld == None:
# Dummy GLViewer
print "simworld and planworld are None"
return
GLRealtimeProgram.__init__(self, "My GL program")
self.simworld = simworld
self.planworld = planworld
self.sim = sim
self.widgetMaster = WidgetSet()
self.widgetButton = 2 # right-clicks
self.draggingWidget = False
self.poseWidget = PointPoser()
self.widgetMaster.add(self.poseWidget)
self.robotWidget = RobotPoser(self.simworld.robot(0))
self.widgetMaster.add(self.robotWidget)
self.simulate = True
if self.sim == None:
self.simulate = False
self.controller = controller
self.command_queue = Queue()
if helper != None:
print "helper is not none"
helper.run()
self.points = None
self.extraControllers = {}
def idle(self):
if self.extraControllers != {}:
remove_indices = []
for controller in self.extraControllers:
self.dt = 0.01
controller.sim.simulate(self.dt)
glutPostRedisplay()
if controller.remainingTime() <= 0:
remove_indices.append(controller)
for controller in remove_indices:
del self.extraControllers[controller]
print "controller removed"
if self.simulate:
self.dt = 0.01
self.sim.simulate(self.dt)
glutPostRedisplay()
self.widgetMaster.idle()
if self.widgetMaster.wantsRedraw():
print "widgetMaster wants redraw"
self.refresh()
def printStuff(self):
print "shelf xform:", knowledge.shelf_xform
print self.simworld.terrain(0).geometry()
# print "terrain xform:", self.simworld.terrain(0).geometry().getTransform(), "\n\n"
def updatePoints(self, points):
self.points = points
def addController(self, new_controller, rgb):
self.extraControllers[new_controller] = rgb
def glShowPointCloud(self, pc, downsample_rate=5, pt_size=None):
# print glGetFloatv(GL_CURRENT_COLOR)
pc = np.array(pc)
# print 'Rendering %d points'%pc.shape[0]
try:
d = pc.shape[1]
assert d == 3 or d == 4, "Unrecognized point cloud shape: " + str(pc.shape)
pc = pc[::downsample_rate, :]
pc = pc.tolist()
glDisable(GL_LIGHTING)
glColor3f(0, 1, 0)
if pt_size is not None:
glPointSize(pt_size)
glBegin(GL_POINTS)
for p in pc:
if d == 4:
r, g, b = pcl_float_to_rgb(p[3])
r /= 255.0
g /= 255.0
b /= 255.0
glColor3f(r, g, b)
glVertex3f(p[0], p[1], p[2])
glEnd()
glEnable(GL_LIGHTING)
glColor3f(1, 0, 0)
except:
# print 'Insufficient data'
pass
def updateBox(self, index, vertices):
BOX_COORDS[index] = vertices
def display(self):
global BOX_COORDS
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, [1, 0, 0, 0.5])
# only 1 robot in this case, but still use for-loop for generality
for i in xrange(self.simworld.numRobots()):
r = self.controller.robotModel
q = self.controller.getCommandedConfig()
if self.widgetMaster.wantsRedraw():
# restart sim - start it with the new robot config
# if simulating
if self.sim != None:
# put more checks on mouse function here
# might accidentally reset if you mouse over
q = self.robotWidget.get()
# print 'self.sim is not None'
self.controller.robotModel.setConfig(q)
self.simworld.robot(0).setConfig(q)
self.controller.setLinear(q, 0.01)
else:
self.robotWidget.set(q)
# q = self.controller.getSensedConfig()
r.setConfig(q)
r.drawGL(False)
glDisable(GL_BLEND)
for controller in self.extraControllers:
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, self.extraControllers[controller])
r = controller.robotModel
q = controller.getCommandedConfig()
r.setConfig(q)
r.drawGL(False)
glDisable(GL_BLEND)
for i in xrange(self.simworld.numTerrains()):
self.simworld.terrain(i).drawGL()
if self.points != None:
self.glShowPointCloud(self.points)
for i in BOX_COORDS:
self.draw_wire_box(*BOX_COORDS[i])
self.widgetMaster.drawGL(self.viewport())
def draw_wire_box(self, bmin, bmax):
"""Helper: draws a wireframe box"""
glBegin(GL_LINE_LOOP)
glVertex3f(bmin[0], bmin[1], bmin[2])
glVertex3f(bmin[0], bmin[1], bmax[2])
glVertex3f(bmin[0], bmax[1], bmax[2])
glVertex3f(bmin[0], bmax[1], bmin[2])
glEnd()
glBegin(GL_LINE_LOOP)
glVertex3f(bmax[0], bmin[1], bmin[2])
glVertex3f(bmax[0], bmin[1], bmax[2])
glVertex3f(bmax[0], bmax[1], bmax[2])
glVertex3f(bmax[0], bmax[1], bmin[2])
glEnd()
glBegin(GL_LINES)
glVertex3f(bmin[0], bmin[1], bmin[2])
glVertex3f(bmax[0], bmin[1], bmin[2])
glVertex3f(bmin[0], bmin[1], bmax[2])
glVertex3f(bmax[0], bmin[1], bmax[2])
glVertex3f(bmin[0], bmax[1], bmax[2])
glVertex3f(bmax[0], bmax[1], bmax[2])
glVertex3f(bmin[0], bmax[1], bmin[2])
glVertex3f(bmax[0], bmax[1], bmin[2])
glEnd()
def keyboardfunc(self, c, x, y):
# print c,"pressed"
# print 'int value =', ord(c)
self.widgetMaster.keypress(c)
self.refresh()
if c == "`":
self.simulate = not self.simulate
print "Simulating:", self.simulate
else:
self.command_queue.put(c)
# print int(c)
if c == chr(27):
# c == esc
# self.picking_thread.join()
exit(0)
glutPostRedisplay()
def mousefunc(self, button, state, x, y):
# print "mouse",button,state,x,y
if button == self.widgetButton:
if state == 0:
# print 'state was zero'
if self.widgetMaster.beginDrag(x, self.height - y, self.viewport()):
# print 'beginning drag'
self.draggingWidget = True
else:
# print 'state of button not zero'
if self.draggingWidget:
# print 'dragging widget true - ending drag'
self.widgetMaster.endDrag()
self.draggingWidget = False
if self.widgetMaster.wantsRedraw():
self.refresh()
self.lastx, self.lasty = x, y
return
GLRealtimeProgram.mousefunc(self, button, state, x, y)
def motionfunc(self, x, y, dx, dy):
if self.draggingWidget:
self.widgetMaster.drag(dx, -dy, self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
else:
res = self.widgetMaster.hover(x, self.height - y, self.viewport())
if self.widgetMaster.wantsRedraw():
self.refresh()
GLRealtimeProgram.motionfunc(self, x, y, dx, dy)
def specialfunc(self, c, x, y):
# Put your keyboard special character handler here
# print c,"pressed"
self.widgetMaster.keypress(c)
self.refresh()
class MousePoserTaskGenerator(TaskGenerator):
"""Allows the user to interact with the model by right clicking
using the mouse and pressing space bar to send the milestone.
Also demonstrates how to write a Python plugin task with an OpenGL
widget.
"""
def __init__(self):
self.plugin = None
def name(self):
return "MousePoser"
def init(self, world):
self.world = world
self.robotPoser = RobotPoser(world.robot(0))
self.plugin = MyWidgetPlugin(self)
self.plugin.addWidget(self.robotPoser)
robot = world.robot(0)
left_arm_link_names = [
'left_upper_shoulder', 'left_lower_shoulder', 'left_upper_elbow',
'left_lower_elbow', 'left_upper_forearm', 'left_lower_forearm',
'left_wrist'
]
right_arm_link_names = [
'right_upper_shoulder', 'right_lower_shoulder',
'right_upper_elbow', 'right_lower_elbow', 'right_upper_forearm',
'right_lower_forearm', 'right_wrist'
]
base_link_names = ['base_x', 'base_y', 'base_yaw']
self.left_arm_link_indices = [
robot.link(l).index for l in left_arm_link_names
]
self.right_arm_link_indices = [
robot.link(l).index for l in right_arm_link_names
]
self.base_link_indices = [robot.link(l).index for l in base_link_names]
if any(v < 0 for v in self.left_arm_link_indices +
self.right_arm_link_indices):
raise ValueError("Robot in world does not have Baxter's torso?")
return True
def start(self):
self._status = 'ok'
self.robotPoser.set(self.world.robot(0).getConfig())
return True
def stop(self):
pass
def get(self):
if self.plugin.initialPose:
self.plugin.initialPose = False
q = self.robotPoser.get()
for i in range(len(self.left_arm_link_indices)):
idx = self.left_arm_link_indices[i]
q[idx] = q_init_left[i]
for i in range(len(self.right_arm_link_indices)):
idx = self.right_arm_link_indices[i]
q[idx] = q_init_right[i]
self.robotPoser.set(q)
print "set up to initial pose"
if self.plugin.sendMilestone:
self.plugin.sendMilestone = False
q = self.robotPoser.get()
qcmd = self.world.robot(0).getConfig()
baseMoved = any(qcmd[i] != q[i] for i in self.base_link_indices)
leftArmMoved = any(qcmd[i] != q[i]
for i in self.left_arm_link_indices)
rightArmMoved = any(qcmd[i] != q[i]
for i in self.right_arm_link_indices)
moved = []
if baseMoved: moved.append('base')
if leftArmMoved: moved.append('left')
if rightArmMoved: moved.append('right')
targets = []
if baseMoved:
targets.append([q[i] for i in self.base_link_indices])
if leftArmMoved:
targets.append([q[i] for i in self.left_arm_link_indices])
if rightArmMoved:
targets.append([q[i] for i in self.right_arm_link_indices])
print "Sending milestone", q, ", moving parts:", ",".join(moved)
#CONSTRUCT THE TASK HERE
msg = {}
msg['type'] = 'JointPose'
msg['parts'] = moved
msg['positions'] = targets
msg['speed'] = 1
#TEST: only allow safe configurations (self collision checking)
msg['safe'] = 1
return msg
return None
def glPlugin(self):
return self.plugin
