add basic conty functions to dcp3

neuromeka-robotics · Oct 29, 2024 · 11eec22 · 11eec22
1 parent 92abc06
commit 11eec22
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Showing 27 changed files with 989 additions and 48 deletions.
diff --git a/proto/hri.proto b/proto/hri.proto
@@ -0,0 +1,16 @@
+// Created by Gwanwoo Kim on 2021-05-28.
+// Copyright 2021 Neuromeka Inc. All rights reserved.
+
+syntax = "proto3";
+package IndyFramework.Protobuf.HRI;
+
+import "hri_msgs.proto";
+
+service HRI {
+  // ---------------------------------------------------------------- //
+  // Conty
+  // ---------------------------------------------------------------- //
+
+  rpc GetRefFrameList(GetRefFrameListReq) returns (GetRefFrameListRes) {}
+  rpc SetRefFrameList(SetRefFrameListReq) returns (SetRefFrameListRes) {}
+}
diff --git a/proto/hri_msgs.proto b/proto/hri_msgs.proto
@@ -0,0 +1,29 @@
+// Created by Gwanwoo Kim on 2021-05-28.
+// Copyright 2021 Neuromeka Inc. All rights reserved.
+
+syntax = "proto3";
+package IndyFramework.Protobuf.HRI;
+
+import "shared_msgs.proto";
+//import "common_msgs.proto";
+//import "device_msgs.proto";
+
+//////////////////////////GetRefFrameList/////////////////////////
+message GetRefFrameListReq {}
+
+message GetRefFrameListRes {
+  repeated IndyFramework.Protobuf.Shared.NamedReferencePosition ref_frames = 1;
+  string default_name = 2;
+  string msg = 100;
+}
+
+//////////////////////////SetRefFrameList/////////////////////////
+message SetRefFrameListReq {
+  repeated IndyFramework.Protobuf.Shared.NamedReferencePosition ref_frames = 1;
+  string default_name = 2;
+}
+
+message SetRefFrameListRes {
+  string msg = 100;
+}
+
diff --git a/proto/shared_msgs.proto b/proto/shared_msgs.proto
@@ -0,0 +1,18 @@
+syntax = "proto3";
+
+package IndyFramework.Protobuf.Shared;
+
+////////////////////////////////////////////////////////////////////////////////
+// shared messages
+////////////////////////////////////////////////////////////////////////////////
+
+message NamedReferencePosition {
+  string name = 1;
+  repeated float tpos = 2;
+  repeated float tpos0 = 3;
+  repeated float tpos1 = 4;
+  repeated float tpos2 = 5;
+  repeated float jpos0 = 6;
+  repeated float jpos1 = 7;
+  repeated float jpos2 = 8;
+}
diff --git a/python/dist/neuromeka-3.3.0.1-py3-none-any.whl b/python/dist/neuromeka-3.3.0.1-py3-none-any.whl
diff --git a/python/dist/neuromeka-3.3.0.2-py3-none-any.whl b/python/dist/neuromeka-3.3.0.2-py3-none-any.whl
diff --git a/python/examples/indydcp3_example.ipynb b/python/examples/indydcp3_example.ipynb
@@ -32,7 +32,7 @@
     "    sys.path.append(\"../../python\")\n",
     "    from neuromeka import IndyDCP3\n",
     "\n",
-    "step_ip = \"192.168.1.24\"\n",
+    "step_ip = \"192.168.1.9\"\n",
     "indy = IndyDCP3(step_ip)"
    ]
   },
@@ -702,21 +702,10 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 28,
+   "execution_count": null,
    "id": "e992e37d",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "{'code': '0', 'msg': ''}"
-      ]
-     },
-     "execution_count": 28,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "jtarget_0 = [0,0,0,0,0,0]\n",
     "indy.movej(jtarget = jtarget_0, blending_type=1)\n",
@@ -1748,11 +1737,123 @@
    "source": [
     "indy.get_custom_control_mode()"
    ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "4b9756db",
+   "metadata": {},
+   "source": [
+    "### Conty Functions"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "id": "da83ecd9",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{}"
+      ]
+     },
+     "execution_count": 2,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "indy.ping_from_conty()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "id": "cd319034",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'ref_frames': [{'name': 'ref_0',\n",
+       "   'tpos': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+       "   'tpos0': [],\n",
+       "   'tpos1': [],\n",
+       "   'tpos2': [],\n",
+       "   'jpos0': [],\n",
+       "   'jpos1': [],\n",
+       "   'jpos2': []},\n",
+       "  {'name': 'ref_1',\n",
+       "   'tpos': [0.01, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+       "   'tpos0': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+       "   'tpos1': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+       "   'tpos2': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+       "   'jpos0': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+       "   'jpos1': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+       "   'jpos2': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}],\n",
+       " 'default_name': 'ref_0',\n",
+       " 'msg': ''}"
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "indy.load_reference_frame()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "id": "f9e13290",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'msg': ''}"
+      ]
+     },
+     "execution_count": 4,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "frames = [\n",
+    "        {\n",
+    "            'name': 'ref_0',\n",
+    "            'tpos': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+    "            'tpos0': [],\n",
+    "            'tpos1': [],\n",
+    "            'tpos2': [],\n",
+    "            'jpos0': [],\n",
+    "            'jpos1': [],\n",
+    "            'jpos2': []\n",
+    "        },\n",
+    "        {\n",
+    "            'name': 'ref_1',\n",
+    "            'tpos': [0.02, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+    "            'tpos0': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+    "            'tpos1': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+    "            'tpos2': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+    "            'jpos0': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+    "            'jpos1': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],\n",
+    "            'jpos2': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n",
+    "        }\n",
+    "    ]\n",
+    "default_name = 'ref_0'\n",
+    "\n",
+    "indy.save_reference_frame(frames, default_name)"
+   ]
   }
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3 (ipykernel)",
+   "display_name": ".venv",
    "language": "python",
    "name": "python3"
   },

diff --git a/python/neuromeka.egg-info/PKG-INFO b/python/neuromeka.egg-info/PKG-INFO
@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: neuromeka
-Version: 3.3.0.1
+Version: 3.3.0.2
 Summary: Neuromeka client protocols for IndyDCP3, IndyEye, Moby, Ecat, and Motor
 Home-page: https://github.com/neuromeka-robotics/neuromeka-package
 Author: Neuromeka
@@ -17,25 +17,23 @@ Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
 Requires-Python: >=3.7
 Description-Content-Type: text/markdown
-Requires-Dist: grpcio<=1.39.0,>=1.34.1; python_version < "3.8"
-Requires-Dist: grpcio-tools<=1.39.0,>=1.34.1; python_version < "3.8"
-Requires-Dist: protobuf==3.17.3; python_version < "3.8"
-Requires-Dist: requests==2.22.0; python_version < "3.8"
-Requires-Dist: Pillow<=9.5.0,>=8.4.0; python_version < "3.8"
-Requires-Dist: numpy<=1.21.6,>=1.19.4; python_version < "3.8"
-Requires-Dist: pyModbusTCP==0.2.1; python_version < "3.8"
-Requires-Dist: netifaces==0.11.0; python_version < "3.8"
-Requires-Dist: numpyencoder; python_version < "3.8"
-Requires-Dist: grpcio==1.59.0; python_version >= "3.8"
-Requires-Dist: grpcio-tools==1.59.0; python_version >= "3.8"
-Requires-Dist: protobuf<=4.25.4,>=4.24.4; python_version >= "3.8"
-Requires-Dist: requests<=2.32.0,>=2.31.0; python_version >= "3.8"
-Requires-Dist: urllib3<=2.2.2,>=2.0.7; python_version >= "3.8"
-Requires-Dist: Pillow==9.5.0; python_version >= "3.8"
-Requires-Dist: numpy<=1.26.4,>=1.21.6; python_version >= "3.8"
-Requires-Dist: pyModbusTCP==0.2.1; python_version >= "3.8"
-Requires-Dist: netifaces2; python_version >= "3.8"
-Requires-Dist: numpyencoder; python_version >= "3.8"
+Requires-Dist: grpcio<=1.39.0,>=1.34.1; python_version < "3.9"
+Requires-Dist: grpcio-tools<=1.39.0,>=1.34.1; python_version < "3.9"
+Requires-Dist: protobuf==3.17.3; python_version < "3.9"
+Requires-Dist: requests==2.22.0; python_version < "3.9"
+Requires-Dist: Pillow<=9.5.0,>=8.4.0; python_version < "3.9"
+Requires-Dist: numpy<=1.21.6,>=1.19.4; python_version < "3.9"
+Requires-Dist: pyModbusTCP==0.2.1; python_version < "3.9"
+Requires-Dist: netifaces==0.11.0; python_version < "3.9"
+Requires-Dist: grpcio==1.59.0; python_version >= "3.9"
+Requires-Dist: grpcio-tools==1.59.0; python_version >= "3.9"
+Requires-Dist: protobuf<=4.25.4,>=4.24.4; python_version >= "3.9"
+Requires-Dist: requests<=2.32.0,>=2.31.0; python_version >= "3.9"
+Requires-Dist: urllib3<=2.2.2,>=2.0.7; python_version >= "3.9"
+Requires-Dist: Pillow==9.5.0; python_version >= "3.9"
+Requires-Dist: numpy<=1.26.4,>=1.21.6; python_version >= "3.9"
+Requires-Dist: pyModbusTCP==0.2.1; python_version >= "3.9"
+Requires-Dist: netifaces2; python_version >= "3.9"
 
 # Neuromeka Robot API
 ![PyPI](https://img.shields.io/pypi/v/neuromeka)

diff --git a/python/neuromeka.egg-info/SOURCES.txt b/python/neuromeka.egg-info/SOURCES.txt
@@ -41,6 +41,10 @@ neuromeka/proto/ethercat_pb2.py
 neuromeka/proto/ethercat_pb2_grpc.py
 neuromeka/proto/eyetask_pb2.py
 neuromeka/proto/eyetask_pb2_grpc.py
+neuromeka/proto/hri_msgs_pb2.py
+neuromeka/proto/hri_msgs_pb2_grpc.py
+neuromeka/proto/hri_pb2.py
+neuromeka/proto/hri_pb2_grpc.py
 neuromeka/proto/indyeye_pb2.py
 neuromeka/proto/indyeye_pb2_grpc.py
 neuromeka/proto/moby_msgs_pb2.py
@@ -51,6 +55,8 @@ neuromeka/proto/rtde_msgs_pb2.py
 neuromeka/proto/rtde_msgs_pb2_grpc.py
 neuromeka/proto/rtde_pb2.py
 neuromeka/proto/rtde_pb2_grpc.py
+neuromeka/proto/shared_msgs_pb2.py
+neuromeka/proto/shared_msgs_pb2_grpc.py
 neuromeka/proto_step/__init__.py
 neuromeka/proto_step/common_msgs_pb2.py
 neuromeka/proto_step/common_msgs_pb2_grpc.py
@@ -74,6 +80,10 @@ neuromeka/proto_step/ethercat_pb2.py
 neuromeka/proto_step/ethercat_pb2_grpc.py
 neuromeka/proto_step/eyetask_pb2.py
 neuromeka/proto_step/eyetask_pb2_grpc.py
+neuromeka/proto_step/hri_msgs_pb2.py
+neuromeka/proto_step/hri_msgs_pb2_grpc.py
+neuromeka/proto_step/hri_pb2.py
+neuromeka/proto_step/hri_pb2_grpc.py
 neuromeka/proto_step/indyeye_pb2.py
 neuromeka/proto_step/indyeye_pb2_grpc.py
 neuromeka/proto_step/moby_msgs_pb2.py
@@ -83,4 +93,6 @@ neuromeka/proto_step/moby_pb2_grpc.py
 neuromeka/proto_step/rtde_msgs_pb2.py
 neuromeka/proto_step/rtde_msgs_pb2_grpc.py
 neuromeka/proto_step/rtde_pb2.py
-neuromeka/proto_step/rtde_pb2_grpc.py
+neuromeka/proto_step/rtde_pb2_grpc.py
+neuromeka/proto_step/shared_msgs_pb2.py
+neuromeka/proto_step/shared_msgs_pb2_grpc.py
diff --git a/python/neuromeka.egg-info/requires.txt b/python/neuromeka.egg-info/requires.txt
@@ -1,5 +1,5 @@
 
-[:python_version < "3.8"]
+[:python_version < "3.9"]
 grpcio<=1.39.0,>=1.34.1
 grpcio-tools<=1.39.0,>=1.34.1
 protobuf==3.17.3
@@ -8,9 +8,8 @@ Pillow<=9.5.0,>=8.4.0
 numpy<=1.21.6,>=1.19.4
 pyModbusTCP==0.2.1
 netifaces==0.11.0
-numpyencoder
 
-[:python_version >= "3.8"]
+[:python_version >= "3.9"]
 grpcio==1.59.0
 grpcio-tools==1.59.0
 protobuf<=4.25.4,>=4.24.4
@@ -20,4 +19,3 @@ Pillow==9.5.0
 numpy<=1.26.4,>=1.21.6
 pyModbusTCP==0.2.1
 netifaces2
-numpyencoder
diff --git a/python/neuromeka/__pycache__/__init__.cpython-312.pyc b/python/neuromeka/__pycache__/__init__.cpython-312.pyc
diff --git a/python/neuromeka/__pycache__/indydcp3.cpython-312.pyc b/python/neuromeka/__pycache__/indydcp3.cpython-312.pyc