From 3a12b8037c843ddad9ba26b9f855949b49c51481 Mon Sep 17 00:00:00 2001 From: "tui.ono" Date: Thu, 27 Apr 2023 11:53:45 +0900 Subject: [PATCH] Added missing argument for manual placement recovery --- CHANGELOG.md | 3 ++- python/mujinplanningclient/binpickingplanningclient.py | 4 +++- python/mujinplanningclient/version.py | 2 +- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index fbedb1b..0c8c426 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,4 @@ -# 0.1.0 (2022-11-17) +# 0.1.1 (2023-04-27) +- Added missing param for manual placement recovery - Port from mujincontrollerclientpy \ No newline at end of file diff --git a/python/mujinplanningclient/binpickingplanningclient.py b/python/mujinplanningclient/binpickingplanningclient.py index 3a0e798..3cc50c4 100644 --- a/python/mujinplanningclient/binpickingplanningclient.py +++ b/python/mujinplanningclient/binpickingplanningclient.py @@ -576,7 +576,7 @@ def GetPackItemPoseInWorld(self, timeout=10, fireandforget=False, **kwargs): taskparameters.update(kwargs) return self.ExecuteCommand(taskparameters, timeout=timeout, fireandforget=fireandforget) - def ManuallyPlacePackItem(self, packFormationComputationResult=None, inputPartIndex=None, placeLocationNames=None, placedTargetPrefix=None, dynamicGoalsGeneratorParameters=None, orderNumber=None, numLeftToPick=None, timeout=10, fireandforget=False): + def ManuallyPlacePackItem(self, packFormationComputationResult=None, inputPartIndex=None, placeLocationNames=None, placedTargetPrefix=None, dynamicGoalsGeneratorParameters=None, intMaxPackageTranslationOffsetXY=None, orderNumber=None, numLeftToPick=None, timeout=10, fireandforget=False): """ Places an item according to the pack formation assuming the item is placed manually and updates robotbridge state """ @@ -596,6 +596,8 @@ def ManuallyPlacePackItem(self, packFormationComputationResult=None, inputPartIn taskparameters['placedTargetPrefix'] = placedTargetPrefix if dynamicGoalsGeneratorParameters is not None: taskparameters['dynamicGoalsGeneratorParameters'] = dynamicGoalsGeneratorParameters + if intMaxPackageTranslationOffsetXY is not None: + taskparameters['intMaxPackageTranslationOffsetXY'] = intMaxPackageTranslationOffsetXY return self.ExecuteCommand(taskparameters, timeout=timeout, fireandforget=fireandforget) def SendPackFormationComputationResult(self, timeout=10, fireandforget=False, **kwargs): diff --git a/python/mujinplanningclient/version.py b/python/mujinplanningclient/version.py index 950a66d..fad4a57 100644 --- a/python/mujinplanningclient/version.py +++ b/python/mujinplanningclient/version.py @@ -1,3 +1,3 @@ -__version__ = '0.1.3' +__version__ = '0.1.4' # Do not forget to update CHANGELOG.md