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[WIP] support python3 for noetic #544

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2 changes: 1 addition & 1 deletion hironx_ros_bridge/src/hironx_ros_bridge/command_widget.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@

import os
try: # Python2
from urlparse import urlparse
from urllib.parse import urlparse
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@k-okada k-okada Feb 26, 2025

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This block is expected to fail on python3 environment.

except ImportError: # Python3
from urllib.parse import urlparse

Expand Down
67 changes: 34 additions & 33 deletions hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
import time

import roslib
from functools import reduce
roslib.load_manifest("hrpsys")
from hrpsys.hrpsys_config import *

Expand All @@ -48,7 +49,7 @@
# all connection(?) conect respenct giopMaxMsgSize
# But on 18.04 (omniorb4-dev 4.2) wnneed to set ORBgiopMaxMsgSize=2147483648
# for each clients
if not os.environ.has_key('ORBgiopMaxMsgSize'):
if 'ORBgiopMaxMsgSize' not in os.environ:
os.environ['ORBgiopMaxMsgSize'] = '2147483648'

import OpenHRP
Expand Down Expand Up @@ -81,7 +82,7 @@ def delete_module(modname, paranoid=None):
else:
these_symbols = paranoid[:]
del modules[modname]
for mod in modules.values():
for mod in list(modules.values()):
try:
delattr(mod, modname)
except AttributeError:
Expand Down Expand Up @@ -249,7 +250,7 @@ def setTargetPose(self, gname, pos, rpy, tm, frame_name=None):
# This method should be removed as part of
# https://github.com/start-jsk/rtmros_hironx/pull/470, once
# https://github.com/fkanehiro/hrpsys-base/pull/1063 resolves.
if gname.upper() not in map (lambda x : x[0].upper(), self.Groups):
if gname.upper() not in [x[0].upper() for x in self.Groups]:
print("setTargetPose failed. {} is not available in the kinematic groups. "
"Check available Groups (by e.g. self.Groups/robot.Groups). ".format(gname))
return False
Expand Down Expand Up @@ -347,13 +348,13 @@ def init(self, robotname="HiroNX(Robot)0", url=""):

print(self.configurator_name + "finding RTCManager and RobotHardware")
HrpsysConfigurator.waitForRTCManagerAndRoboHardware(self, robotname=robotname)
print self.configurator_name, "Hrpsys controller version info: "
print(self.configurator_name, "Hrpsys controller version info: ")
if self.ms :
print self.configurator_name, " ms = ", self.ms
print(self.configurator_name, " ms = ", self.ms)
if self.ms and self.ms.ref :
print self.configurator_name, " ref = ", self.ms.ref
print(self.configurator_name, " ref = ", self.ms.ref)
if self.ms and self.ms.ref and len(self.ms.ref.get_component_profiles()) > 0:
print self.configurator_name, " version = ", self.ms.ref.get_component_profiles()[0].version
print(self.configurator_name, " version = ", self.ms.ref.get_component_profiles()[0].version)
if self.ms and self.ms.ref and len(self.ms.ref.get_component_profiles()) > 0 and StrictVersion(self.ms.ref.get_component_profiles()[0].version) < StrictVersion('315.2.0'):
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hrpsys_315_1_9/hrpsys'))
delete_module('ImpedanceControllerService_idl')
Expand Down Expand Up @@ -505,7 +506,7 @@ def getRTCList(self):
elif "AbsoluteForceSensor" in self.ms.get_factory_names():
rtclist.append(['rmfo', "AbsoluteForceSensor"])
else:
print "Component rmfo is not loadable."
print("Component rmfo is not loadable.")
return rtclist

# hand interface
Expand Down Expand Up @@ -562,7 +563,7 @@ def setHandEffort(self, effort=100):
@type effort: int
'''

for i in [v for vs in self.HandGroups.values() for v in vs]: # flatten
for i in [v for vs in list(self.HandGroups.values()) for v in vs]: # flatten
self.sc_svc.setMaxTorque(i, effort)

def setHandWidth(self, hand, width, tm=1, effort=None):
Expand All @@ -582,7 +583,7 @@ def setHandWidth(self, hand, width, tm=1, effort=None):
if hand:
self.setHandJointAngles(hand, self.hand_width2angles(width), tm)
else:
for h in self.HandGroups.keys():
for h in list(self.HandGroups.keys()):
self.setHandJointAngles(h, self.hand_width2angles(width), tm)

def moveHand(self, hand, av, tm=1): # direction av: + for open, - for close
Expand Down Expand Up @@ -633,7 +634,7 @@ def setSelfGroups(self):
# natural if it accepts it.
for item in self.Groups:
self.seq_svc.addJointGroup(item[0], item[1])
for k, v in self.HandGroups.iteritems():
for k, v in self.HandGroups.items():
if self.sc_svc:
self.sc_svc.addJointGroup(k, v)

Expand Down Expand Up @@ -677,7 +678,7 @@ def isServoOn(self, jname='any'):
return False
else:
jid = eval('self.' + jname)
print self.configurator_name, s_s[jid]
print(self.configurator_name, s_s[jid])
if s_s[jid][0] & 1 == 0:
return False
return True
Expand Down Expand Up @@ -793,25 +794,25 @@ def servoOn(self, jname='all', destroy=1, tm=3):
time.sleep(2)
# time.sleep(7)
if not self.isServoOn(jname):
print self.configurator_name, 'servo on failed.'
print(self.configurator_name, 'servo on failed.')
raise
except:
print self.configurator_name, 'exception occured'
print(self.configurator_name, 'exception occured')

try:
angles = self.flat2Groups(map(numpy.rad2deg,
self.getActualState().angle))
print 'Move to Actual State, Just a minute.'
angles = self.flat2Groups(list(map(numpy.rad2deg,
self.getActualState().angle)))
print('Move to Actual State, Just a minute.')
for i in range(len(self.Groups)):
self.setJointAnglesOfGroup(self.Groups[i][0], angles[i], tm,
wait=False)
for i in range(len(self.Groups)):
self.seq_svc.waitInterpolationOfGroup(self.Groups[i][0])
except:
print self.configurator_name, 'post servo on motion trouble'
print(self.configurator_name, 'post servo on motion trouble')

# turn on hand motors
print 'Turn on Hand Servo'
print('Turn on Hand Servo')
if self.sc_svc:
is_servoon = self.sc_svc.servoOn()
print('Hands Servo on: ' + str(is_servoon))
Expand All @@ -838,10 +839,10 @@ def servoOff(self, jname='all', wait=True):
'''
# do nothing for simulation
if self.simulation_mode:
print self.configurator_name, 'omit servo off'
print(self.configurator_name, 'omit servo off')
return 0

print 'Turn off Hand Servo'
print('Turn off Hand Servo')
if self.sc_svc:
self.sc_svc.servoOff()
# if the servos aren't on switch power off
Expand All @@ -866,13 +867,13 @@ def servoOff(self, jname='all', wait=True):
self.rh_svc.power('all', SWITCH_OFF)

# turn off hand motors
print 'Turn off Hand Servo'
print('Turn off Hand Servo')
if self.sc_svc:
self.sc_svc.servoOff()

return 2
except:
print self.configurator_name, 'servo off: communication error'
print(self.configurator_name, 'servo off: communication error')
return -1

def checkEncoders(self, jname='all', option=''):
Expand Down Expand Up @@ -911,15 +912,15 @@ def checkEncoders(self, jname='all', option=''):
try:
waitInputConfirm(msg)
except:
print "If you're connecting to the robot from remote, " + \
"make sure tunnel X (eg. -X option with ssh)."
print("If you're connecting to the robot from remote, " + \
"make sure tunnel X (eg. -X option with ssh).")
self.rh_svc.power('all', SWITCH_OFF)
return 0

is_result_hw = True
print self.configurator_name, 'calib-joint ' + jname + ' ' + option
print(self.configurator_name, 'calib-joint ' + jname + ' ' + option)
self.rh_svc.initializeJointAngle(jname, option)
print self.configurator_name, 'done'
print(self.configurator_name, 'done')
is_result_hw = is_result_hw and self.rh_svc.power('all', SWITCH_OFF)
self.goActual() # This needs to happen before turning servo on.
time.sleep(0.1)
Expand All @@ -928,7 +929,7 @@ def checkEncoders(self, jname='all', option=''):
# The step described in the following msg is confirmed by the manufacturer 12/14/2015
print("Turning servos ({}) failed. This is likely because of issues happening in lower level. Please check if the Kawada's proprietary tool NextageOpenSupervisor returns without issue or not. If the issue persists, contact the manufacturer.".format(jname))
# turn on hand motors
print 'Turn on Hand Servo'
print('Turn on Hand Servo')
if self.sc_svc:
self.sc_svc.servoOn()

Expand Down Expand Up @@ -966,7 +967,7 @@ def startImpedance_315_1(self, arm,
ic_sensor_name = 'lhsensor'
ic_target_name = 'LARM_JOINT5'
else:
print 'startImpedance: argument must be rarm or larm.'
print('startImpedance: argument must be rarm or larm.')
return

self.ic_svc.setImpedanceControllerParam(
Expand Down Expand Up @@ -996,7 +997,7 @@ def stopImpedance_315_1(self, arm):
elif arm == 'larm':
ic_sensor_name = 'lhsensor'
else:
print 'startImpedance: argument must be rarm or larm.'
print('startImpedance: argument must be rarm or larm.')
return
self.ic_svc.deleteImpedanceControllerAndWait(ic_sensor_name)

Expand Down Expand Up @@ -1161,8 +1162,8 @@ def getJointAnglesOfGroup(self, limb):
for i in range(len(groups)):
if groups[i][0] == limb:
return angles[i]
print self.configurator_name, 'could not find limb name ' + limb
print self.configurator_name, ' in' + filter(lambda x: x[0], groups)
print(self.configurator_name, 'could not find limb name ' + limb)
print(self.configurator_name, ' in' + [x for x in groups if x[0]])

def clearOfGroup(self, limb):
'''!@brief
Expand All @@ -1174,5 +1175,5 @@ def clearOfGroup(self, limb):
'software version ' + self.seq_version)
HrpsysConfigurator.clearOfGroup(self, limb)
angles = self.getJointAnglesOfGroup(limb)
print self.configurator_name, 'clearOfGroup(' + limb + ') will send ' + str(angles) + ' to update seqplay until https://github.com/fkanehiro/hrpsys-base/pull/1141 is available'
print(self.configurator_name, 'clearOfGroup(' + limb + ') will send ' + str(angles) + ' to update seqplay until https://github.com/fkanehiro/hrpsys-base/pull/1141 is available')
self.setJointAnglesOfGroup(limb, angles, 0.1, wait=True)
8 changes: 4 additions & 4 deletions hironx_ros_bridge/src/hironx_ros_bridge/old_api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,12 +57,12 @@ def setTargetAngular(self, group_name, x, y, z, r, p, w, rate=10.0, wait=True):
scaling_factor_translation = 50
scaling_factor_rotation = 5
x_now, y_now, z_now, r_now, p_now, w_now = self.getCurrentConfiguration(joint_name)
translation_distances = map(abs, [x-x_now * scaling_factor_translation,
translation_distances = list(map(abs, [x-x_now * scaling_factor_translation,
y-y_now * scaling_factor_translation,
z-z_now * scaling_factor_translation])
rotation_distances = map(abs, [r-r_now * scaling_factor_rotation,
z-z_now * scaling_factor_translation]))
rotation_distances = list(map(abs, [r-r_now * scaling_factor_rotation,
p-p_now * scaling_factor_rotation,
w-w_now * scaling_factor_rotation])
w-w_now * scaling_factor_rotation]))
max_dist = max(translation_distances + rotation_distances) # This is just concatenated
mvmt_time = max_dist / rate

Expand Down