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167 lines
8.1 KiB
167 lines
8.1 KiB
2 years ago
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#include "pybind11/eigen.h"
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#include "pybind11/pybind11.h"
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#include "pybind11/stl.h"
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#include "drake/bindings/pydrake/common/deprecation_pybind.h"
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#include "drake/bindings/pydrake/documentation_pybind.h"
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#include "drake/bindings/pydrake/examples/examples_py.h"
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#include "drake/bindings/pydrake/pydrake_pybind.h"
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#include "drake/examples/manipulation_station/manipulation_station.h"
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#include "drake/examples/manipulation_station/manipulation_station_hardware_interface.h" // noqa
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using std::make_unique;
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using std::unique_ptr;
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using std::vector;
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namespace drake {
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namespace pydrake {
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namespace internal {
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void DefineExamplesManipulationStation(py::module m) {
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// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
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using namespace drake::systems;
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// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
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using namespace drake::examples::manipulation_station;
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constexpr auto& doc = pydrake_doc.drake.examples.manipulation_station;
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// ManipulationStation currently only supports double.
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using T = double;
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py::enum_<IiwaCollisionModel>(
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m, "IiwaCollisionModel", doc.IiwaCollisionModel.doc)
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.value("kNoCollision", IiwaCollisionModel::kNoCollision,
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doc.IiwaCollisionModel.kNoCollision.doc)
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.value("kBoxCollision", IiwaCollisionModel::kBoxCollision,
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doc.IiwaCollisionModel.kBoxCollision.doc)
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.export_values();
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py::enum_<SchunkCollisionModel>(
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m, "SchunkCollisionModel", doc.SchunkCollisionModel.doc)
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.value(
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"kBox", SchunkCollisionModel::kBox, doc.SchunkCollisionModel.kBox.doc)
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.value("kBoxPlusFingertipSpheres",
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SchunkCollisionModel::kBoxPlusFingertipSpheres,
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doc.SchunkCollisionModel.kBoxPlusFingertipSpheres.doc)
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.export_values();
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{
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using Class = ManipulationStation<T>;
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const auto& cls_doc = doc.ManipulationStation;
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py::class_<Class, Diagram<T>> cls(m, "ManipulationStation", cls_doc.doc);
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cls // BR
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.def(py::init<double>(), py::arg("time_step") = 0.002, cls_doc.ctor.doc)
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.def("SetupManipulationClassStation",
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&Class::SetupManipulationClassStation,
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py::arg("collision_model") = IiwaCollisionModel::kNoCollision,
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py::arg("schunk_model") = SchunkCollisionModel::kBox,
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cls_doc.SetupManipulationClassStation.doc)
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.def("SetupClutterClearingStation", &Class::SetupClutterClearingStation,
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py::arg("X_WCameraBody") = std::nullopt,
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py::arg("collision_model") = IiwaCollisionModel::kNoCollision,
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py::arg("schunk_model") = SchunkCollisionModel::kBox,
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cls_doc.SetupClutterClearingStation.doc)
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.def("SetupPlanarIiwaStation", &Class::SetupPlanarIiwaStation,
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py::arg("schunk_model") = SchunkCollisionModel::kBox,
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cls_doc.SetupPlanarIiwaStation.doc)
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.def("AddManipulandFromFile", &Class::AddManipulandFromFile,
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py::arg("model_file"), py::arg("X_WObject"),
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cls_doc.AddManipulandFromFile.doc)
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.def("RegisterIiwaControllerModel", &Class::RegisterIiwaControllerModel,
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cls_doc.RegisterIiwaControllerModel.doc)
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.def("RegisterRgbdSensor",
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py::overload_cast<const std::string&, const multibody::Frame<T>&,
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const math::RigidTransform<double>&,
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const geometry::render::DepthRenderCamera&>(
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&Class::RegisterRgbdSensor),
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cls_doc.RegisterRgbdSensor.doc_single_camera)
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.def("RegisterRgbdSensor",
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py::overload_cast<const std::string&, const multibody::Frame<T>&,
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const math::RigidTransform<double>&,
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const geometry::render::ColorRenderCamera&,
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const geometry::render::DepthRenderCamera&>(
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&Class::RegisterRgbdSensor),
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cls_doc.RegisterRgbdSensor.doc_dual_camera)
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.def("RegisterWsgControllerModel", &Class::RegisterWsgControllerModel,
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cls_doc.RegisterWsgControllerModel.doc)
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.def("Finalize", py::overload_cast<>(&Class::Finalize),
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cls_doc.Finalize.doc_0args)
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.def("num_iiwa_joints", &Class::num_iiwa_joints,
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cls_doc.num_iiwa_joints.doc)
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.def("get_multibody_plant", &Class::get_multibody_plant,
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py_rvp::reference_internal, cls_doc.get_multibody_plant.doc)
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.def("get_mutable_multibody_plant", &Class::get_mutable_multibody_plant,
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py_rvp::reference_internal, cls_doc.get_mutable_multibody_plant.doc)
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.def("get_scene_graph", &Class::get_scene_graph,
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py_rvp::reference_internal, cls_doc.get_scene_graph.doc)
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.def("get_mutable_scene_graph", &Class::get_mutable_scene_graph,
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py_rvp::reference_internal, cls_doc.get_mutable_scene_graph.doc)
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.def("get_controller_plant", &Class::get_controller_plant,
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py_rvp::reference_internal, cls_doc.get_controller_plant.doc)
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.def("GetIiwaPosition", &Class::GetIiwaPosition,
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cls_doc.GetIiwaPosition.doc)
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.def("SetIiwaPosition",
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overload_cast_explicit<void, systems::Context<T>*,
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const Eigen::Ref<const VectorX<T>>&>(&Class::SetIiwaPosition),
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py::arg("station_context"), py::arg("q"),
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cls_doc.SetIiwaPosition.doc_2args)
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.def("GetIiwaVelocity", &Class::GetIiwaVelocity,
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cls_doc.GetIiwaVelocity.doc)
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.def("SetIiwaVelocity",
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overload_cast_explicit<void, systems::Context<T>*,
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const Eigen::Ref<const VectorX<T>>&>(&Class::SetIiwaVelocity),
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py::arg("station_context"), py::arg("v"),
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cls_doc.SetIiwaVelocity.doc_2args)
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.def("GetWsgPosition", &Class::GetWsgPosition,
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cls_doc.GetWsgPosition.doc)
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.def("SetWsgPosition",
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overload_cast_explicit<void, systems::Context<T>*, const T&>(
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&Class::SetWsgPosition),
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py::arg("station_context"), py::arg("q"),
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cls_doc.SetWsgPosition.doc_2args)
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.def("GetWsgVelocity", &Class::GetWsgVelocity,
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cls_doc.GetWsgVelocity.doc)
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.def("SetWsgVelocity",
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overload_cast_explicit<void, systems::Context<T>*, const T&>(
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&Class::SetWsgVelocity),
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py::arg("station_context"), py::arg("v"),
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cls_doc.SetWsgVelocity.doc_2args)
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.def("GetStaticCameraPosesInWorld", &Class::GetStaticCameraPosesInWorld,
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py_rvp::reference_internal, cls_doc.GetStaticCameraPosesInWorld.doc)
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.def("get_camera_names", &Class::get_camera_names,
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cls_doc.get_camera_names.doc)
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.def("SetWsgGains", &Class::SetWsgGains, cls_doc.SetWsgGains.doc)
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.def("SetIiwaPositionGains", &Class::SetIiwaPositionGains,
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cls_doc.SetIiwaPositionGains.doc)
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.def("SetIiwaVelocityGains", &Class::SetIiwaVelocityGains,
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cls_doc.SetIiwaVelocityGains.doc)
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.def("SetIiwaIntegralGains", &Class::SetIiwaIntegralGains,
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cls_doc.SetIiwaIntegralGains.doc);
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}
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py::class_<ManipulationStationHardwareInterface, Diagram<double>>(m,
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"ManipulationStationHardwareInterface",
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doc.ManipulationStationHardwareInterface.doc)
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.def(py::init<const std::vector<std::string>>(),
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py::arg("camera_names") = std::vector<std::string>{},
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doc.ManipulationStationHardwareInterface.ctor.doc)
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.def("Connect", &ManipulationStationHardwareInterface::Connect,
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py::arg("wait_for_cameras") = true,
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doc.ManipulationStationHardwareInterface.Connect.doc)
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.def("get_controller_plant",
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&ManipulationStationHardwareInterface::get_controller_plant,
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py_rvp::reference_internal,
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doc.ManipulationStationHardwareInterface.get_controller_plant.doc)
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.def("get_camera_names",
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&ManipulationStationHardwareInterface::get_camera_names,
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py_rvp::reference_internal,
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doc.ManipulationStationHardwareInterface.get_camera_names.doc)
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.def("num_iiwa_joints",
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&ManipulationStationHardwareInterface::num_iiwa_joints,
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doc.ManipulationStationHardwareInterface.num_iiwa_joints.doc);
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}
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} // namespace internal
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} // namespace pydrake
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} // namespace drake
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