def move_relative(self,
robot_id: str,
end_effector_id: str,
pose: Pose,
rel_pose: RelativePose,
move_type: MoveTypeEnum,
speed: float = 0.5) -> None:
"""
Moves the robot's end-effector to a specific pose.
:param robot_id: Unique robot id.
:param end_effector_id: Unique end-effector id.
:param pose: Target pose.
:param rel_pose: Relative pose.
:param move_type: Type of move.
:param speed: Speed of move.
:return:
"""
assert 0.0 <= speed <= 1.0
body = MoveRelativeParameters(pose, rel_pose.position,
rel_pose.orientation)
rest.put(
f"{URL}/robots/{robot_id}/endeffectors/{end_effector_id}/moveRelative",
body, {
"moveType": move_type.value,
"speed": speed
})
def move_to_joints(self, robot_id: str, target_joints: List[Joint],
speed: float) -> None:
rest.put(f"{URL}/robots/{robot_id}/joints", target_joints, {
"moveType": MoveTypeEnum.AVOID_COLLISIONS.value,
"speed": speed
})
def move_relative_joints(self,
robot_id: str,
end_effector_id: str,
joints: ProjectRobotJoints,
rel_pose: RelativePose,
move_type: MoveTypeEnum,
speed: float = 0.5) -> None:
"""
Moves the robot's end-effector relatively to specific joint values.
:param robot_id: Unique robot id.
:param end_effector_id: Unique end-effector id.
:param joints: Target joints.
:param rel_pose: Relative pose.
:param move_type: Type of move.
:param speed: Speed of move.
:return:
"""
assert 0.0 <= speed <= 1.0
body = MoveRelativeJointsParameters(joints.joints, rel_pose.position,
rel_pose.orientation)
rest.put(
f"{URL}/robots/{robot_id}/endeffectors/{end_effector_id}/moveRelativeJoints",
body, {
"moveType": move_type.value,
"speed": speed
})
def set_output(self, robot_id: str, output_id: str, value: float) -> None:
assert 0.0 <= value <= 1.0
super(RestRobotService, self).set_output(robot_id, output_id, value)
rest.put(f"{URL}/robots/{robot_id}/outputs/{output_id}",
params={"value": value})
def add_collision_model(self, model: Models, pose: Pose) -> None:
"""
Adds arbitrary collision model to the collision scene.
:param model: Box, Sphere, Cylinder, Mesh
:param pose: Pose of the collision object.
:return:
Example usage:
>>> from arcor2.data.object_type import Box
>>> from arcor2.data.common import Pose, Position. Orientation
>>> box = Box("UniqueBoxId", 0.1, 0.1, 0.1)
>>> robot_service.add_collision_model(box, Pose(Position(1, 0, 0), Orientation(0, 0, 0, 1)))
"""
model_id = model.id
params = model.to_dict()
del params["id"]
params[model.__class__.__name__.lower() + "Id"] = model_id
# TODO temporary hack
if model.type() == Model3dType.MESH:
params["mesh_scale_x"] = 1.0
params["mesh_scale_y"] = 1.0
params["mesh_scale_z"] = 1.0
params["transform_id"] = "world"
rest.put(f"{URL}/collisions/{model.type().value}", pose, params)
def set_search_parameters(self, parameters: SearchEngineParameters) -> None:
"""
Sets the search parameters.
:param parameters:
:return:
"""
rest.put(f"{URL}/search", parameters)
def add_dialog_resolve(self, option: str) -> None:
"""
Logs value with the specified group and name.
:param option:
:return:
"""
rest.put(f"{URL}/dialog/resolve", params={"option": option})
def put_suction_configuration(self, item_id: str, tool_id: str, poses: List[Pose]) -> None:
"""
Adds or updates suction pick configuration.
:param item_id:
:param tool_id:
:param poses:
:return:
"""
rest.put(f"{URL}/pick/suctions", poses, {"item_id": item_id, "tool_id": tool_id})
def add_notification(self, message: str, level: NotificationLevelEnum) -> None:
"""
Logs value with the specified group and name.
:param message:
:param level:
:return:
"""
rest.put(f"{URL}/notification", params={"message": message, "level": level})
def move_to_pose(self, robot_id: str, end_effector_id: str,
target_pose: Pose, speed: float) -> None:
rest.put(
f"{URL}/robots/{robot_id}/endeffectors/{end_effector_id}/move",
target_pose, {
"moveType": MoveTypeEnum.AVOID_COLLISIONS.value,
"speed": speed
})
def add_dialog(self, title: str, content: str, options: List[str]) -> None:
"""
Logs value with the specified group and name.
:param title:
:param content:
:param options:
:return:
"""
rest.put(f"{URL}/dialog", params={"title": title, "content": content}, data=options)
def put_gripper_configuration(self, item_id: str, tool_id: str, gripper_setup: List[GripperSetup]) -> None:
"""
Adds or updates gripper definitions for tool and item.
:param item_id:
:param tool_id:
:param gripper_setup:
:return:
"""
rest.put(f"{URL}/pick/grippers", gripper_setup, {"item_id": item_id, "tool_id": tool_id})
def add_value(self, group_id: str, name: str, value: float) -> None:
"""
Logs value with the specified group and name.
:param group_id:
:param name:
:param value:
:return:
"""
rest.put(f"{URL}/values", params={"group_id": group_id, "name": name, "value": value})
def set_joints(self,
robot_id: str,
joints: ProjectRobotJoints,
move_type: MoveTypeEnum,
speed: float = 0.5) -> None:
assert 0.0 <= speed <= 1.0
assert robot_id == joints.robot_id
rest.put(f"{URL}/robots/{robot_id}/joints", joints.joints, {
"moveType": move_type.value,
"speed": speed
})
def grip(self, robot_id: str, gripper_id: str, position: float = 0.0, speed: float = 0.5, force: float = 0.5) -> \
None:
assert 0.0 <= position <= 1.0
assert 0.0 <= speed <= 1.0
assert 0.0 <= force <= 1.0
rest.put(f"{URL}/robots/{robot_id}/grippers/{gripper_id}/grip",
params={
"position": position,
"speed": speed,
"force": force
})
def set_opening(self,
robot_id: str,
gripper_id: str,
position: float = 1.0,
speed: float = 0.5) -> None:
assert 0.0 <= position <= 1.0
assert 0.0 <= speed <= 1.0
rest.put(f"{URL}/robots/{robot_id}/grippers/{gripper_id}/opening",
params={
"position": position,
"speed": speed
})
def add_collision(self, obj: Generic) -> None:
if not obj.collision_model or obj.collision_model.type(
) == Model3dType.NONE:
return
params = obj.collision_model.to_dict()
del params["id"]
params[obj.collision_model.__class__.__name__.lower() +
"Id"] = collision_id(obj)
# TODO temporary hack
if obj.collision_model.type() == Model3dType.MESH:
params["mesh_scale_x"] = 1.0
params["mesh_scale_y"] = 1.0
params["mesh_scale_z"] = 1.0
params["transform_id"] = "world"
rest.put(f"{URL}/collisions/{obj.collision_model.type().value}",
obj.pose, params)
def move(self,
robot_id: str,
end_effector_id: str,
pose: Pose,
move_type: MoveTypeEnum,
speed: float = 0.5) -> None:
"""
Moves the robot's end-effector to a specific pose.
:param robot_id: Unique robot id.
:param end_effector_id: Unique end-effector id.
:param pose: Target pose.
:param move_type: Type of move.
:param speed: Speed of move.
:return:
"""
assert 0.0 <= speed <= 1.0
rest.put(
f"{URL}/robots/{robot_id}/endeffectors/{end_effector_id}/move",
pose, {
"moveType": move_type.value,
"speed": speed
})
def stop(self, robot_id: str) -> None:
rest.put(f"{URL}/robots/{robot_id}/stop")
def release(self, robot_id: str, suction_id: str) -> None:
rest.put(f"{URL}/robots/{robot_id}/suctions/{suction_id}/release")
def suck(self, robot_id: str, suction_id: str) -> None:
rest.put(f"{URL}/robots/{robot_id}/suctions/{suction_id}/suck")
def focus(self, mfa: MeshFocusAction) -> Pose:
return rest.put(f"{URL}/utils/focus", mfa, data_cls=Pose)
def update_project(project: Project) -> None:
assert project.id
rest.put(f"{URL}/project", project)
def create(url: str, srv: Service) -> None:
rest.put(f"{url}/systems/{srv.configuration_id}/create")
def grab_image(self) -> None:
"""
Grabs image and stores to internal cache.
:return:
"""
rest.put(f"{URL}/capture/grab")
def update_scene(scene: Scene) -> None:
assert scene.id
rest.put(f"{URL}/scene", scene)
def update_object_type(object_type: ObjectType) -> None:
assert object_type.id
rest.put(f"{URL}/object_type", object_type)
def update_service_type(service_type: ServiceType) -> None:
assert service_type.id
rest.put(f"{URL}/service_type", service_type)
def destroy(url: str) -> None:
rest.put(f"{url}/systems/destroy")
def put_model(model: Models) -> None:
rest.put(f"{URL}/models/{model.__class__.__name__.lower()}", model)
