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MIGRATION.md

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0.2.0 (Migrating from mujinplanningclientpy)

The mujinplanningclient package has been further split into:

  • mujinzmqclient (this repo) for purely ZMQ-related utilities, and
  • mujinplanningclient for the planning methods that use each of these.

If you are writing your own ZMQ client, you may only need this repo. If you are writing something that makes requests to the planning system, you will need the mujinplanningclient repo.

0.1.0 (Migrating from mujincontrollerclientpy)

The package mujincontrollerclient was split into mujinwebstackclient and mujinplanningclient. To migrate, determine which methods are used by your controllerclient instance, and convert to the correct class from either package (or use both).

Classes:

  • BinpickingControllerClient → BinpickingPlanningClient
  • HandEyeCalibrationControllerClient → HandEyeCalibrationPlanningClient
  • RealtimeRobotControllerClient → RealtimeRobotPlanningClient
  • RealtimeITLPlanning3ControllerClient → RealtimeITL3PlanningClient
  • ControllerClientError → WebstackClientError
  • UseControllerClientDecorator → UsePlanningClientDecorator AND/OR UseWebstackClientDecorator

Imports/Packages:

  • mujincontrollerclient → mujinwebstackclient AND/OR mujinplanningclient
  • controllerclientbase → webstackclient
  • controllerclientraw → controllerwebclientraw
  • binpickingcontrollerclient → binpickingplanningclient
  • planningclient → planningclient
  • realtimerobotclient → realtimerobotplanningclient
  • realtimeitlplanning3client → realtimeitl3planningclient
  • handeyecalibrationcontrollerclient → handeyecalibrationplanningclient

In addition:

  • CheckITLProgramExists has been removed from realtimeitlplanning3client. Use webstackclient's GetProgram instead.