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Add numPlaced in ManuallyPlacePackItems() #43

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Add numPlaced in ManuallyPlacePackItems() #43

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dcb775a
Add numPlaced in ManuallyPlacedPackItems()
kressjh Jun 19, 2024
88df96d
Update binpickingplanningclient.py
kressjh Jun 19, 2024
38eab73
Merge pull request #46 from mujin/master
kressjh Jul 10, 2024
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7 changes: 4 additions & 3 deletions python/mujinplanningclient/binpickingplanningclient.py
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Original file line number Diff line number Diff line change
Expand Up @@ -633,7 +633,7 @@ def SetCurrentLayoutDataSendOnObjectUpdateData(self, doUpdate, containername=Non
taskparameters.update(kwargs)
return self.ExecuteCommand(taskparameters, 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, orderNumber=None, numLeftToPick=None, numPlaced=None, timeout=10, fireandforget=False):
"""Places an item according to the pack formation assuming the item is placed manually and updates robotbridge state

Args:
Expand All @@ -644,6 +644,7 @@ def ManuallyPlacePackItem(self, packFormationComputationResult=None, inputPartIn
dynamicGoalsGeneratorParameters:
orderNumber:
numLeftToPick:
numPlaced:
timeout (float, optional): Time in seconds after which the command is assumed to have failed. (Default: 10)
fireandforget (bool, optional): If True, does not wait for the command to finish and returns immediately. The command remains queued on the server. (Default: False)
"""
Expand All @@ -657,8 +658,8 @@ def ManuallyPlacePackItem(self, packFormationComputationResult=None, inputPartIn
taskparameters['orderNumber'] = orderNumber
if numLeftToPick is not None:
taskparameters['numLeftToPick'] = numLeftToPick
if numLeftToPick is not None:
taskparameters['numLeftToPick'] = numLeftToPick
if numPlaced is not None:
taskparameters['numPlaced'] = numPlaced
if placedTargetPrefix:
taskparameters['placedTargetPrefix'] = placedTargetPrefix
if dynamicGoalsGeneratorParameters is not None:
Expand Down