from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import time
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device('jog_joint')
jog_service = d.get_device_client("jog_joint", 1)
print(jog_service.device_info.device.name)
tool = jog_service.get_tool("tool")
while (True):
tool.open()
time.sleep(0.5)
tool.close()
time.sleep(0.5)
for i in range(img_count):
p = source_dir.joinpath(f"{img_name_prefix}{i}{img_name_ext}")
imgs.append(cv2.imread(str(p)))
# for img in imgs:
# cv2.imshow("",img)
# cv2.waitKey(250)
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device("variable_storage")
var_storage = d.get_device_client("variable_storage", 1)
image_util = ImageUtil(client_obj=var_storage)
var_consts = var_storage.RRGetNode().GetConstants('tech.pyri.variable_storage',
var_storage)
variable_persistence = var_consts["VariablePersistence"]
variable_protection_level = var_consts["VariableProtectionLevel"]
def save_image(img, i):
global_name = f"{seq_name}_{i}"
if len(var_storage.filter_variables("globals", global_name, [])) > 0:
raise RR.InvalidOperationException(
f"Global {global_name} already exists")
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
from RobotRaconteurCompanion.Util.ImageUtil import ImageUtil
import time
import cv2
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device("vision_camera_calibration")
calibration_service = d.get_device_client("vision_camera_calibration", 1)
ret = calibration_service.calibrate_camera_intrinsic(
"camera", "intrinsic_calib_dataset0", "chessboard",
"camera_intrinsic_calibration") #"camera_intrinsic_calibration")
image_util = ImageUtil(client_obj=calibration_service)
i = 0
for c_img in ret.display_images:
img = image_util.compressed_image_to_array(c_img)
cv2.imshow(f"img {i}", img)
cv2.waitKey()
i += 1
cv2.destroyAllWindows()
global current_compressed_frame
while (pipe_ep.Available > 0):
compressed_image=pipe_ep.ReceivePacket()
current_compressed_frame=compressed_image
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager', autoconnect=False)
d.refresh_devices(1)
d.connect_device("vision_camera_viewer")
viewer_service = d.get_device_client("vision_camera_viewer",1)
print(viewer_service.device_info.device.name)
camera_viewer = viewer_service.get_camera_viewer("camera")
p=camera_viewer.preview_stream.Connect(-1)
p.PacketReceivedEvent+=new_frame
while True:
if (not current_compressed_frame is None):
img = cv2.imdecode(current_compressed_frame.data,1)
cv2.imshow("Image",img)
from RobotRaconteurCompanion.Util.ImageUtil import ImageUtil
from RobotRaconteurCompanion.Util.GeometryUtil import GeometryUtil
import cv2
roi_name = "pick_roi4"
template_name = "perfume_template3"
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device("vision_template_matching")
d.connect_device("variable_storage")
c = d.get_device_client("vision_template_matching", 1)
bounding_box2d_type = RRN.GetStructureType(
'com.robotraconteur.geometry.BoundingBox2D', c)
named_pose2d_type = RRN.GetStructureType(
'com.robotraconteur.geometry.NamedPose2D', c)
pose2d_dtype = RRN.GetNamedArrayDType('com.robotraconteur.geometry.Pose2D', c)
var_storage = d.get_device_client("variable_storage", 1)
roi = var_storage.getf_variable_value("globals", roi_name).data
#res = c.match_template_stored_image("extrinsic_image0", "test10", None)
res = c.match_template_camera_capture("camera", template_name, None)
img_util = ImageUtil(client_obj=c)
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import time
from RobotRaconteurCompanion.Util.ImageUtil import ImageUtil
from RobotRaconteurCompanion.Util.GeometryUtil import GeometryUtil
import cv2
import numpy as np
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device("robotics_motion")
c = d.get_device_client("robotics_motion", 1)
geom_util = GeometryUtil(client_obj=c)
def _run_grab(gen):
while True:
try:
res = gen.Next()
print(res)
except RR.StopIterationException:
break
for i in range(5):
pose2d_dtype = RRN.GetNamedArrayDType("com.robotraconteur.geometry.Pose2D",
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager', autoconnect=False)
d.refresh_devices(1)
d.connect_device("sandbox")
c = d.get_device_client("sandbox",1)
gen = c.getf_output()
while True:
try:
ret = gen.Next()
print([l.output for l in ret.output_list])
except RR.StopIterationException:
break
# gen = c.execute_procedure("test_print_many", [])
# while True:
# try:
# print(gen.Next().printed)
# except RR.StopIterationException:
# break
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
d = DeviceManagerClient()
#d = DeviceManagerClient()
d.refresh_devices(1)
for dev in d.get_device_names():
print(dev)
print(d.get_device_info(dev).urls)
try:
print(d.get_device_client(dev, 1).device_info.manufacturer.name)
except:
pass
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import time
from RobotRaconteurCompanion.Util.ImageUtil import ImageUtil
from RobotRaconteurCompanion.Util.GeometryUtil import GeometryUtil
import numpy as np
import cv2
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device("vision_robot_calibration")
calibration_service = d.get_device_client("vision_robot_calibration", 1)
geom_util = GeometryUtil(client_obj=calibration_service)
marker_pose = geom_util.xyz_rpy_to_pose(
np.array([0.0393, -0.0091, 0.055]), np.array(np.deg2rad([90.0, 0.0,
180.0])))
ret = calibration_service.calibrate_robot_origin(
"robot", "camera_intrinsic_calibration", "camera_extrinsic_calibration",
"robot_calib0", "DICT_6X6_250", 150, 0.0316, marker_pose,
"") # "robot_origin_calibration0"
image_util = ImageUtil(client_obj=calibration_service)
geom_util = GeometryUtil(client_obj=calibration_service)
T = geom_util.named_pose_to_rox_transform(ret.robot_pose.pose)
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import time
from RobotRaconteurCompanion.Util.ImageUtil import ImageUtil
from RobotRaconteurCompanion.Util.GeometryUtil import GeometryUtil
import cv2
import numpy as np
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager', autoconnect=False)
d.refresh_devices(1)
d.connect_device("vision_aruco_detection")
c = d.get_device_client("vision_aruco_detection",1)
geom_util = GeometryUtil(client_obj = c)
b = RRN.NewStructure("com.robotraconteur.geometry.BoundingBox2D", c)
center = RRN.NewStructure("com.robotraconteur.geometry.NamedPose2D", c)
pose2d_dtype = RRN.GetNamedArrayDType("com.robotraconteur.geometry.Pose2D", c)
size2d_dtype = RRN.GetNamedArrayDType("com.robotraconteur.geometry.Size2D", c)
center.pose = np.zeros((1,),dtype=pose2d_dtype)
center.pose[0]["position"]["x"] = 990
center.pose[0]["position"]["y"] = 64
center.pose[0]["orientation"] = np.deg2rad(10)
b.center = center
size = np.zeros((1,),dtype=size2d_dtype)
size[0]["width"] = 100
size[0]["height"] = 100
b.size = size
from RobotRaconteur.Client import *
from RobotRaconteurCompanion.Util.UuidUtil import UuidUtil
import uuid
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import numpy as np
import time
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager', autoconnect=False)
d.refresh_devices(1)
d.connect_device("program_master")
c = d.get_device_client("program_master",1)
c.run()
time.sleep(4.1)
c.pause()
time.sleep(1)
c.clear_step_pointer()
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device_type("tech.pyri.robotics.jog.RoboticsJogService")
d.get_device_client("robotics_jog", 1)
# for dev in d.get_device_names():
# print (dev)
# print(d.get_device_info(dev).urls)
# print(d.get_device_client(dev,1).device_info.manufacturer.name)
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager', autoconnect=False)
d.refresh_devices(1)
d.connect_device('robotics_jog')
jog_service = d.get_device_client("robotics_jog",1)
print(jog_service.device_info.device.name)
jog = jog_service.get_jog("robot")
jog.setf_jog_mode()
#for x in range(100):
#jog.jog_joints3(1,1)
#jog.setf_halt_mode()
jog.jog_joints_to_angles([0.1,0.1,-0.1,0.1,-0.1,0.2],50)
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import time
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager')
d.refresh_devices(1)
jog_service = d.get_device_client("jog_cartesian", 1)
print(jog_service.device_info.device.name)
jog = jog_service.get_jog("robot")
#jog.setf_jog_mode()
#for x in range(100):
#jog.jog_joints3(1,1)
#jog.setf_halt_mode()
jog.prepare_jog()
while True:
for i in range(20):
jog.jog_cartesian3([0, 0, 1], [0, 0, 0])
time.sleep(0.005)
jog.stop_joints()
for i in range(20):
