Package for implementing and testing robots to be integrated with Mirai. A brief introduction and command reference can be found here.
For more detailed documentation, see instructions.md
For Skill API reference, see skill_api.md
Package can be installed by
git clone [email protected]:micropsi-industries/micropsi-integration-sdk.git
cd ./micropsi-integration-sdk
pip3 install .In the micropsi_integration_sdk python module can be found abstract interfaces declaring the
methods that must be implemented for successful control of each supported robot type.
In the examples folder can be found toy examples of each robot implementation. These respond to the sandbox and dev server tools and simulate simple robot motion, but do not communicate with real hardware. They can be used as a starting point when developing a new robot implementation.
Standalone tool to test an SDK-based robot interface implementation. This will attempt to read robot poses and send movement commands in ways similar to Mirai, helping to uncover problems related to geometry and real time control.
If successful, the robot will go through a defined sequence of tool pose changes
and return to its start pose. See --help or below for details.
CAUTION This will attempt to move the robot. Although this tool (by default) only outputs low-speed commands, prepare for unexpected behavior including large, high-speed movements when testing with a newly written interface.
usage: mirai-sandbox [-h] [-m MODEL] [-ip IP_ADDRESS] [-sl SPEED_LINEAR] [-sa SPEED_ROTATION] [--test [{translations,single-rotations,chained-rotations} ...]] [--max-distance-translation MAX_DISTANCE_TRANSLATION]
[--max-distance-degrees MAX_DISTANCE_DEGREES] [-tl TOLERANCE_LINEAR] [-ta TOLERANCE_ROTATION] [-v] [-d DIMENSION] [-l LENGTH]
path
This will attempt to read poses and execute movements on a given robot interface.
Expected outcome: The robot moves through the following sequence of waypoints,
and ends up back at the start pose:
# translations:
1. Translate in tool +X by a set amount, then -X by the same amount (= return to origin)
2. Similar for tool +/- Y
3. Similar for tool +/- Z
# single rotations:
4. Rotate around tool +X by a set amount, then -X (= return to origin)
5. Similar for tool +/- Y
6. Similar for tool +/- Z
7. Rotate around the tool XY diagonal, then return
8. Similar for the YZ diagonal
9. Similar for the XZ diagonal
# chained rotations:
10. Rotate around tool Z, then Y, then X; then return in the reverse order.
See --help for config options (e.g. range of motion, speed, including/excluding some of the motions)
positional arguments:
path Path to the robot implementation
options:
-h, --help show this help message and exit
-m MODEL, --model MODEL
Name of the robot model as defined in the implementation.
-ip IP_ADDRESS, --ip-address IP_ADDRESS
IP address of the robot.
Default: 192.168.100.100
-sl SPEED_LINEAR, --speed-linear SPEED_LINEAR
Linear end-effector speed, meters per second.
Default: 0.05
-sa SPEED_ROTATION, --speed-rotation SPEED_ROTATION
Rotational end-effector speed, degrees per second.
Default: 5.0°
--test [{translations,single-rotations,chained-rotations} ...]
Select which tests to run, can specify one or multiple.
Choices: translations, single-rotations, chained-rotations.
Default: run all.
--max-distance-translation MAX_DISTANCE_TRANSLATION
Maximum distance for translational movements, meters.
Default: 0.05
--max-distance-degrees MAX_DISTANCE_DEGREES
Maximum distance for rotational movements, degrees.
Default: 10.0°
-tl TOLERANCE_LINEAR, --tolerance-linear TOLERANCE_LINEAR
Consider a position linearly reached when within this distance, meters
Default: 0.001m
-ta TOLERANCE_ROTATION, --tolerance-rotation TOLERANCE_ROTATION
Consider a position rotationally reached when within this distance, degrees
Default: 0.5°
-v, --verbose Enable debug logging.
-d DIMENSION, --dimension DIMENSION
OBSOLETE: See --test
-l LENGTH, --length LENGTH
OBSOLETE: See --max-distance-translation and --max-distance-degrees
Usage example: mirai-sandbox ../examples/cartesian_velocity_robot.py
This tool simulates a mirai controller in certain (very simplified) ways. Once started, it listens on port 6599 for the commands sent by either your PLC or robot program, or the mirai-dev-client tool. It accepts commands as documented in the binary skill api.
CAUTION
When it receives the ExecuteSkill command, this tool will attempt to communicate with a robot
at the configured address, and will run through an approximation of a full skill execution.
If your sdk robot has been properly implemented, this should produce only miniscule motion, however
this cannot be guaranteed.
It is strongly recommended that you first test this in simulation before attempting to interface
with real hardware.
usage: mirai-dev-server [-h] --robot-file ROBOT_FILE
[--robot-address ROBOT_ADDRESS]
[--server-address SERVER_ADDRESS] [--always-fail]
[--keepalive KEEPALIVE]
optional arguments:
-h, --help show this help message and exit
--robot-file ROBOT_FILE
File where the sdk robot implementation can be loaded. eg: './examples/cartesian_velocity_robot.py' (default: None)
--robot-address ROBOT_ADDRESS
Address where the mirai dev server can expect to find the robot, for motion streaming. (default: localhost)
--server-address SERVER_ADDRESS
Address that the mirai dev server should listen on. (default: 0.0.0.0)
--always-fail Cause the dev server to respond to every request with a failure message. (default: False)
--keepalive KEEPALIVE
Keep idle client connections for KEEPALIVE seconds before dropping. (default: 60)
Usage example:
# mirai-dev-server --robot-file examples/cartesian_velocity_robot.pyThis tool functions as an example client. It can be used as an initial smoke-test to confirm the
functionality of the mirai-dev-server tool, including that of the ExecuteSkill command.
Your goal as an integrator is to replicate the behaviour of this client tool in your own robot
or PLC program.
CAUTION
When it receives the ExecuteSkill command, the dev server will attempt to communicate with a
robot at the configured address, and will run through an approximation of a full skill execution.
If your sdk robot has been properly implemented, this should not produce any motion. It is strongly
recommended that you first test this in simulation before attempting to control real hardware.
usage: mirai-dev-client [-h] [--server-address SERVER_ADDRESS] [--count COUNT]
[--period PERIOD] [--api-version {1,2}]
{GetBoxMetadata,GetTrainedSkills,ExecuteSkill,PrepareSkillAsync,GetResult,GetLastEndstateValues,GetExceptionMessage,KeepAlive}
positional arguments:
{GetBoxMetadata,GetTrainedSkills,ExecuteSkill,PrepareSkillAsync,GetResult,GetLastEndstateValues,GetExceptionMessage,KeepAlive}
optional arguments:
-h, --help show this help message and exit
--server-address SERVER_ADDRESS
Hostname or IP address where the mirai dev server is running. (default: localhost)
--count COUNT Send the command COUNT times, reusing the connection. (default: 1)
--period PERIOD Wait PERIOD seconds between sent messages. (default: 1)
--api-version {1,2} Format messages for the given mirai binary api version. (default: 1)
Usage example:
# mirai-dev-client GetBoxMetadata