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feat: add gripper to unity simulation
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@alberto-abarzua
alberto-abarzua committed Nov 18, 2023
1 parent 1779d70 commit 25f567e
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Showing 10 changed files with 336 additions and 61 deletions.
4 changes: 2 additions & 2 deletions controller/src/ribot/control/controller_servers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -223,8 +223,8 @@ def __init__(self, controller: Any, port: int) -> None:
async def handler(self, websocket: Any, _: str) -> None:
async for message in websocket:
if message.strip() == "get_angles":
angles = self.controller.current_angles
response = Message(MessageOp.STATUS, 0, angles)
angles_tool = list(self.controller.current_angles) + [self.controller.tool_value]
response = Message(MessageOp.STATUS, 0, angles_tool)
await websocket.send(response.encode())

def _start(self) -> None:
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12 changes: 12 additions & 0 deletions frontend/src/redux/sagas.js
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Original file line number Diff line number Diff line change
@@ -1,18 +1,30 @@
import { armPoseActions } from '@/redux/ArmPoseSlice';
import api from '@/utils/api';
import instanciatorApi from '@/utils/instanciator_api';
import { call, put, delay, all } from 'redux-saga/effects';

function* fetchApiData() {
try {
// if in the server return

let instanciatorUrl = import.meta.env.VITE_INSTANCIATOR_URL;
console.log('instanciatorUrl', instanciatorUrl);

if (instanciatorUrl && instanciatorUrl !== 'undefined') {
try {
yield call(instanciatorApi.get, '/health_check/');
} catch (error) {
}
}
const response = yield call(api.get, '/settings/status/?degrees=true');
yield put(armPoseActions.updateCurrent(response.data));
} catch (error) {
console.error('Error fetching data:', error);
}
}



function* watchFetchApiData() {
while (true) {
yield call(fetchApiData);
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16 changes: 15 additions & 1 deletion instanciator/backend/src/instance_generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,13 @@ def instance_checker_target_fun(self) -> None:
if instance["free"]:
free_instances += 1

if free_instances <= 3:
if time.time() - instance["last_health_check"] > 60 * 3:
self.set_last_health_check(instance_uuid)
self.destroy(instance_uuid)



if free_instances <= 5:
new_uuid = str(uuid.uuid4())
self.instances = instances
new_instance = self.create_instance(new_uuid)
Expand Down Expand Up @@ -186,8 +192,16 @@ def create_instance(self, uuid_str: str) -> Dict[str, Any]:
"time_started": time.time(),
"free": True,
"uuid": uuid_str,
"last_health_check": 0,

}

def set_last_health_check(self, uuid_str: str) -> None:
instances = self.instances
if uuid_str in instances:
instances[uuid_str]["last_health_check"] = time.time()
self.instances = instances

def destroy(self, uuid_str: str) -> None:
if uuid_str in self.instances:
project_name = self.get_project_name(uuid_str)
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27 changes: 26 additions & 1 deletion instanciator/backend/src/main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,18 +61,43 @@ async def destroy_all() -> Dict[str, Any]:
@app.get("/backend_url/")
async def get_backend_port(request: Request, response: Response) -> Dict[str, Any]:
instance_id_cookie = request.cookies.get("instance_id")
uuid = instance_generator.get_uuid()

if not instance_id_cookie:
uuid = instance_generator.get_uuid()
response.set_cookie(
key="instance_id",
value=uuid,
expires=30 * 60,
httponly=True,
)
else:
uuid = instance_id_cookie


instance = instance_generator.get_instance(uuid)
if instance is None:
return {"status": "not found"}
else:
port = instance["ports"]["backend_http_port"]
return {"backend_url": f"{HOST}:{port}", "backend_port": port, "host": HOST}


@app.post("/health_check/")
async def health_check(request: Request) -> Dict[str, Any]:
instance_id_cookie = request.cookies.get("instance_id")

if not instance_id_cookie:
return {"status": "not found"}
else:
uuid = instance_id_cookie

instance_generator.set_last_health_check(uuid)

if instance is None:
return {"status": "not found"}
else:
return {"status": "ok"}




220 changes: 218 additions & 2 deletions unity_arm_simulation/unity_project/arm_sim/Assets/Scenes/MainArm.unity
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Original file line number Diff line number Diff line change
Expand Up @@ -196,6 +196,111 @@ PrefabInstance:
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Expand Down Expand Up @@ -405,6 +510,12 @@ PrefabInstance:
m_RemovedComponents: []
m_RemovedGameObjects: []
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Expand Down Expand Up @@ -839,7 +950,7 @@ Camera:
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far clip plane: 3000
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orthographic size: 5
m_Depth: -1
Expand All @@ -865,7 +976,7 @@ Transform:
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Expand Down Expand Up @@ -1398,6 +1509,111 @@ Transform:
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