google-research
diff --git a/‎build.sh‎
Lines changed: 2 additions & 0 deletions b/‎build.sh‎
Lines changed: 2 additions & 0 deletions
diff --git a/‎pyreach/__init__.py‎
Lines changed: 1 addition & 0 deletions b/‎pyreach/__init__.py‎
Lines changed: 1 addition & 0 deletions
diff --git a/‎pyreach/arm.py‎
Lines changed: 18 additions & 1 deletion b/‎pyreach/arm.py‎
Lines changed: 18 additions & 1 deletion
diff --git a/‎pyreach/common/proto_gen/proxy_downlink_service_pb2.py‎
Lines changed: 1527 additions & 0 deletions b/‎pyreach/common/proto_gen/proxy_downlink_service_pb2.py‎
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@@ -28,6 +28,8 @@ ensure_installed wget
 ensure_installed python3-pip
 ensure_installed python3-opencv
 ensure_installed python3-scipy
+ensure_installed python3-absl
+ensure_installed python3-shapely
 
 pip3 install --upgrade pip
 
 
@@ -40,6 +40,7 @@
 from pyreach.oracle import Prediction
 from pyreach.oracle import PredictionPickPlacePoint
 from pyreach.oracle import PredictionPoint
+from pyreach.run_script import RunScript
 from pyreach.sim import Sim
 from pyreach.text_instruction import TextInstruction
 from pyreach.text_instruction import TextInstructions
 
@@ -116,6 +116,11 @@ class ArmState:
     tip_adjust_t_flange: Adjust transform for the tooltip.
     tip_adjust_t_base: Pose with the tip adjust applied relative to the base of
       the arm.
+    base_t_origin: Pose of the base of the robot relative to the workcell world
+      origin.
+    flange_t_origin: Pose of robot flange relative to the workcell world origin.
+    tip_adjust_t_origin: Pose with the tip adjust applied relative to the
+      workcell world origin.
   """
 
   time: float = 0.0
@@ -140,6 +145,9 @@ class ArmState:
   robot_mode: RobotMode = RobotMode.DEFAULT
   tip_adjust_t_flange: Optional[core.Pose] = None
   tip_adjust_t_base: Optional[core.Pose] = None
+  base_t_origin: Optional[core.Pose] = None
+  flange_t_origin: Optional[core.Pose] = None
+  tip_adjust_t_origin: Optional[core.Pose] = None
 
 
 class Arm(object):
@@ -356,6 +364,7 @@ def to_pose(self,
               servo_gain: float = 0.0,
               preemptive: bool = False,
               controller_name: str = "",
+              pose_in_world_coordinates: bool = False,
               timeout: Optional[float] = None) -> core.PyReachStatus:
     """Move the arm to a target pose synchronously.
 
@@ -379,6 +388,8 @@ def to_pose(self,
         only).
       preemptive: True to preempt existing scripts.
       controller_name: The name of the controller to send the command to.
+      pose_in_world_coordinates: If true, pose is in world coordinates,
+        otherwise if false, pose is in arm base coordinates.
       timeout: The amount time to wait before giving up. (Default: no timeout)
 
     Returns:
@@ -404,6 +415,7 @@ def async_to_pose(
       servo_gain: float = 0.0,
       preemptive: bool = False,
       controller_name: str = "",
+      pose_in_world_coordinates: bool = False,
       timeout: Optional[float] = None,
       callback: Optional[Callable[[core.PyReachStatus], None]] = None,
       finished_callback: Optional[Callable[[], None]] = None) -> None:
@@ -429,6 +441,8 @@ def async_to_pose(
         only).
       preemptive: True to preempt existing scripts.
       controller_name: The name of the controller to send the command to.
+      pose_in_world_coordinates: If true, pose is in world coordinates,
+        otherwise if false, pose is in arm base coordinates.
       timeout: The amount time to wait before giving up. (Default: no timeout)
       callback: An optional callback routine call upon completion.
       finished_callback: An optional callback when done.
@@ -563,14 +577,17 @@ def async_stop(
 
   def fk(self,
          joints: Union[Tuple[float, ...], List[float], np.ndarray],
-         apply_tip_adjust_transform: bool = False) -> Optional[core.Pose]:
+         apply_tip_adjust_transform: bool = False,
+         pose_in_world_coordinates: bool = False) -> Optional[core.Pose]:
     """Uses forward kinematics to get the pose from the joint angles.
 
     Args:
       joints: The robot joints.
       apply_tip_adjust_transform: If True, will use the data in the calibration
         file for the robot to change the returned pose from the end of the arm
         to the tip of the end-effector.
+      pose_in_world_coordinates: If true, pose is in world coordinates,
+        otherwise if false, pose is in arm base coordinates.
 
     Returns:
       The pose for the end of the arm, or if apply_tip_adjust_transform was