def async_daemon(self, daemon_name, wait_timeout_sec=0):
"""
Get a daemon asynchronous proxy.
:param daemon_name: The daemon name
:param wait_timeout_sec: Time to wait for the daemon to spawn
:return: A thread local object of the daemon
"""
proxy = self.daemon(daemon_name, wait_timeout_sec)
Pyro4.asyncproxy(proxy)
return proxy
file_path = os.path.dirname(os.path.abspath(__file__))
root_path = os.path.abspath(os.path.join(file_path, '..'))
print(root_path)
sys.path.append(root_path)
try:
from utils.realsenseL515 import RealsenseSensor
from utils.grasp_2d import Grasp2D
from utils.tf_mapper import TFMapper_EyeToHand
from utils.ur_servo import URServo
except Exception as e:
print('import utils error')
raise e
Pyro4.config.SERIALIZER = 'pickle'
grasp_server = Pyro4.Proxy("PYRO:[email protected]:6665")
Pyro4.asyncproxy(grasp_server)
total_length = []
HHHH = 40
def Plan(image):
print(image.shape)
image = image.astype('float32')
np.save('ddd.npy', image)
return grasp_server.plan(image, 70)
class GrapsPanler(object):
CROP_START = np.array([200, 50])
CROP_SIZE = 480
SCALE = 300 / CROP_SIZE
