// Move robot's joints - Invalid clearance
public static void CTUE00400()
{
BinPickingTask task = CTUC00100();
// J7(linear rail), J1, J2, J3, J5, J6, J8(servo hand)
List <double> jointValues = new List <double>()
{
-10.0, 0.0, 50.0, -100.0, 0.0, 0.0, 0.0
};
List <int> jointIndices = new List <int>()
{
0, 1, 2, 3, 4, 5, 6
};
try
{
task.MoveJoints(jointValues, jointIndices, -5.0, 0.2, "");
}
catch (ClientException ex)
{
if (!ex.ToString().Contains("Task Input Error"))
{
throw new Exception("Test case CTUE00400 failed");
}
}
}
// Create a new task with incorrect port number
public static void CTUC00400_CTUC00500()
{
// Make sure by browser that no task is present.
SceneResource scene = CTUB00100();
string xmlFilepath = "C:\\connection2.xml";
XmlDocument document = new XmlDocument();
StreamReader reader = new StreamReader(xmlFilepath, Encoding.UTF8);
document.Load(reader);
string taskName = document.GetElementsByTagName("taskname")[0].InnerText;
string taskType = document.GetElementsByTagName("tasktype")[0].InnerText;
string controllerip = document.GetElementsByTagName("controllerip")[0].InnerText;
int controllerport = 9999;
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName(
taskName, taskType, controllerip, controllerport);
try
{
task.GetJointValues();
}
catch (ClientException ex)
{
if (!ex.ToString().Contains("Controller port number is not correct"))
{
throw new Exception("Test case CTUC00400_CTUC00500 failed");
}
}
}
// Get robot's joint values
public static void CTUD00100()
{
BinPickingTask task = CTUC00100();
RobotState state = task.GetJointValues();
Console.WriteLine("[Joint names]" + string.Join(",", state.jointNames));
Console.WriteLine("[Joint values]" + string.Join(",", state.jointValues));
}
// Move towards a work and pick it - Invalid tool name
public static void CTUG00700()
{
BinPickingTask task = CTUC00100();
// For transform6d, X[mm], Y[mm], Z[mm], RX[deg], RY[deg], RZ[deg]
List <double> goalpos = new List <double>()
{
300, 900, 500, 0, 0, 0
};
//task.PickAndMove("container1", "camera1", "hogehoge", GoalType.transform6d, goalpos, 0.2, 60000);
}
// Move towards a work and pick it - translatedirection5d
public static void CTUG00200()
{
BinPickingTask task = CTUC00100();
// For translationdirection5d, X[mm], Y[mm], Z[mm], DX[mm], DY[mm], DZ[mm]
List <double> goalpos = new List <double>()
{
300, 900, 500, 0, 0, 0
};
//task.PickAndMove("container1", "camera1", "1Base", GoalType.translationdirection5d, goalpos, 0.2, 60000);
}
// Move towards a work and pick it - transform6d
public static void CTUG00100()
{
BinPickingTask task = CTUC00100();
// For transform6d, X[mm], Y[mm], Z[mm], RX[deg], RY[deg], RZ[deg]
List <double> goalpos = new List <double>()
{
1000.5, 800, 1050, 1, -89, -89
};
//task.PickAndMove("container1", "camera1", "1Base", GoalType.transform6d, goalpos, 0.2, 60000);
}
// Move robot's joints based on hand position - Invalid goal position
public static void CTUF00500()
{
BinPickingTask task = CTUC00100();
// For transform6d, X[mm], Y[mm], Z[mm], RX[deg], RY[deg], RZ[deg]
List <double> goalpos = new List <double>()
{
1500, 0, 600, 0, 0, 0
};
task.MoveToHandPosition(goalpos, GoalType.transform6d, "1Base", 0.2, 60000);
}
// Move robot's joints based on hand position - translatedirection5d
public static void CTUF00200()
{
BinPickingTask task = CTUC00100();
// For translationdirection5d, X[mm], Y[mm], Z[mm], DX[mm], DY[mm], DZ[mm]
List <double> goalpos = new List <double>()
{
1500, 900, 500, 0, 0, 0
};
task.MoveToHandPosition(goalpos, GoalType.translationdirection5d, "1Base", 0.2, 60000);
}
static void Main(string[] args)
{
string hostname = "controller65";
string username = "******";
string password = "******";
string scenepk = "knowledgepicking1.mujin.dae";
ControllerClient controllerClient = new ControllerClient(username, password, "http://" + hostname);
SceneResource scene = controllerClient.GetScene(scenepk);
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName("test_task_1", "binpicking");
// slave request id for the target slave, usually hostname + "_slave0"
task.SlaveRequestID = hostname + "_slave0";
// remove objects in the scene whose names have this prefix, optional
string prefix = "detected_sourcecontainer_";
// list of objects and their poses to be updated in the scene
List <Dictionary <string, object> > envstate = new List <Dictionary <string, object> >()
{
new Dictionary <string, object>()
{
{ "name", prefix + "1" },
{ "quat_", new List <double>()
{
1, 0, 0, 0
} },
{ "translation_", new List <double>()
{
0, 0, 300
} },
{ "object_uri", "mujin:/work1.mujin.dae" },
},
new Dictionary <string, object>()
{
{ "name", prefix + "2" },
{ "quat_", new List <double>()
{
1, 0, 0, 0
} },
{ "translation_", new List <double>()
{
0, 100, 400
} },
{ "object_uri", "mujin:/work2_b.mujin.dae" },
}
};
task.UpdateObjects(envstate, prefix);
}
// Get robot's joint values - Time out
public static void CTUD00200()
{
BinPickingTask task = CTUC00100();
try
{
RobotState state = task.GetJointValues(100);
}
catch (ClientException ex)
{
if (!ex.ToString().Contains("timed out"))
{
throw new Exception("Test case CTUD00200 failed");
}
}
}
// Move robot's joints
public static void CTUE00100()
{
BinPickingTask task = CTUC00100();
// J7(linear rail), J1, J2, J3, J5, J6, J8(servo hand)
//List<double> jointValues = new List<double>() { -10.0, 0.0, 50.0, -100.0, 0.0, 0.0, 0.0 };
List <double> jointValues = new List <double>()
{
-800.0, 0.0, 35.0, 45.0, 0.0, 0.0, 0.0
};
List <int> jointIndices = new List <int>()
{
0, 1, 2, 3, 4, 5, 6
};
task.MoveJoints(jointValues, jointIndices, 20, 0.2, "");
}
// Move towards a work and pick it - Time out
public static void CTUG00900()
{
BinPickingTask task = CTUC00100();
// For transform6d, X[mm], Y[mm], Z[mm], RX[deg], RY[deg], RZ[deg]
List <double> goalpos = new List <double>()
{
300, 900, 500, 0, 0, 0
};
try
{
//task.PickAndMove("container1", "camera1", "1Base", GoalType.transform6d, goalpos, 0.2, 100);
}
catch (ClientException ex)
{
if (!ex.ToString().Contains("timed out"))
{
throw new Exception("Test case CTUG00900 failed");
}
}
}
// Move robot's joints based on hand position - Invalid tool name
public static void CTUF00600()
{
BinPickingTask task = CTUC00100();
// For transform6d, X[mm], Y[mm], Z[mm], RX[deg], RY[deg], RZ[deg]
List <double> goalpos = new List <double>()
{
1500, 900, 500, 0, 0, 0
};
try
{
task.MoveToHandPosition(goalpos, GoalType.transform6d, "hogehoge", 0.2, 60000);
}
catch (ClientException ex)
{
if (!ex.ToString().Contains("failed to find manipulator with name"))
{
throw new Exception("Test case CTUF00600 failed");
}
}
}
// Move robot's joints - Invalid Joint Values
public static void CTUE00200()
{
BinPickingTask task = CTUC00100();
// J7 (index=0) cannot go positive.
List <double> jointValues = new List <double>()
{
-10.0, 0.0, 70.0, -140.0, 0.0, 0.0, 0.0
};
List <int> jointIndices = new List <int>()
{
0, 1, 2, 3, 4, 5, 6
};
try
{
task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
}
catch (ClientException ex)
{
System.Console.WriteLine(ex.ToString());
}
}
// Create a new task and get the task
public static BinPickingTask CTUC00100()
{
// Make sure by browser that no task is present.
SceneResource scene = CTUB00100();
string xmlFilepath = "C:\\connection2.xml";
XmlDocument document = new XmlDocument();
StreamReader reader = new StreamReader(xmlFilepath, Encoding.UTF8);
document.Load(reader);
string taskName = document.GetElementsByTagName("taskname")[0].InnerText;
string taskType = document.GetElementsByTagName("tasktype")[0].InnerText;
string controllerip = document.GetElementsByTagName("controllerip")[0].InnerText;
int controllerport = int.Parse(document.GetElementsByTagName("controllerport")[0].InnerText);
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName(
taskName, taskType, controllerip, controllerport);
return((BinPickingTask)scene.GetOrCreateTaskFromName(
taskName, taskType, controllerip, controllerport));
}
static void Main(string[] args)
{
if (true)
{
ControllerClient controllerClient2 = new ControllerClient("testuser", "mytestpass", "http://controller13");
//controllerClient.Initialize("mujin:/irex2013/irex2013.WPJ", "mujincollada", "wincaps", "mujin:/irex2013.mujin.dae");
//SceneResource scene2 = controllerClient2.GetScene("test.mujin.dae");
// JSON creation
//Dictionary<string, object> jsonMessage = controllerClient2.GetJsonMessage(HttpMethod.POST, "scene/?format=json", "{\"name\":\"newname\", \"reference_uri\":\"mujin:/plasticnut-center.mujin.dae\"}");
// XML creation
Dictionary <string, object> xmlMessage = controllerClient2.GetXMLMessage(HttpMethod.POST, "scene/?format=xml", "<request><name>newname3</name><reference_uri>mujin:/plasticnut-center.mujin.dae</reference_uri></request>");
}
// Default XML path:
// string xmlFilepath = AppDomain.CurrentDomain.SetupInformation.ApplicationBase + "..\\..\\samples\\getsceneinfo\\config\\connection.xml";
// Custom XML path;
string xmlFilepath = "C:\\connection2.xml";
XmlDocument document = new XmlDocument();
StreamReader reader = new StreamReader(xmlFilepath, Encoding.UTF8);
document.Load(reader);
string mujinIpAddress = document.GetElementsByTagName("ipaddress")[0].InnerText;
string scenePrimaryKey = document.GetElementsByTagName("scenepk")[0].InnerText;
string username = document.GetElementsByTagName("username")[0].InnerText;
string password = document.GetElementsByTagName("password")[0].InnerText;
string taskName = document.GetElementsByTagName("taskname")[0].InnerText;
string taskType = document.GetElementsByTagName("tasktype")[0].InnerText;
string controllerip = document.GetElementsByTagName("controllerip")[0].InnerText;
int controllerport = int.Parse(document.GetElementsByTagName("controllerport")[0].InnerText);
ControllerClient controllerClient = new ControllerClient(username, password, mujinIpAddress);
//controllerClient.Initialize("mujin:/irex2013/irex2013.WPJ", "mujincollada", "wincaps", "mujin:/irex2013.mujin.dae");
SceneResource scene = controllerClient.GetScene(scenePrimaryKey);
BinPickingTask task = (BinPickingTask)scene.GetOrCreateTaskFromName(taskName, taskType, controllerip, controllerport);
// Test1: GetJointValues
RobotState robotState = task.GetJointValues();
/*
* // Test2: MoveJoints
* robotState.jointValues[1] += 30;
* robotState.jointValues[3] -= 30;
* List<double> jointValues = new List<double>() { robotState.jointValues[1], robotState.jointValues[3] };
* List<int> jointIndices = new List<int>(){1, 3};
* task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
*/
List <double> jointValues = new List <double>()
{
45
};
List <int> jointIndices = new List <int>()
{
6
};
task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
jointValues = new List <double>()
{
0, 0, 0, 0, 0, 0, 0
};
jointIndices = new List <int>()
{
0, 1, 2, 3, 4, 5, 6
};
task.MoveJoints(jointValues, jointIndices, 30, 0.2, "");
/*
* // Test3: MoveToHandPosition
* double[] basepos = robotState.tools["1Base"];
* basepos[1] += 50;
* basepos[3] -= 50;
* task.MoveToHandPosition(new List<double>(basepos), GoalType.transform6d, "1Base", 0.2);
*/
// Test4: PickAndMove
//task.PickAndMove("container3", "camera3", "1Base", GoalType.translationdirection5d, new List<double>() { 1900, 240, 700, 0, 0, 1 }, 0.2);
}
