John Wason johnwason
Reynard the Robot is a simple cartoon robot used as an example device for learning Robot Raconteur. This demo shows the ease of connecting to a new device and controlling it using the plug-and-play features of Robot Raconteur!
See the full examples and the Getting Started Guide for more information.
The following demo files are for Python and MATLAB. Download the files before connecting to the private device access point!
The Robot Raconteur training simulator demonstrates multiple robots and other devices running in simulation using standard, vendor-agnostic service types. The demo will also show using the teach pendant with these standard types to interact and program the robots.
See the full examples and the Getting Started Guide for more information.
The following demo files are for Python and MATLAB. Download the files before connecting to the private device access point!
| from RobotRaconteur.Client import * | |
| import numpy as np | |
| c = RRN.ConnectService("rr+tcp://localhost:59843?service=mp_robot") | |
| robot_pose_type = RRN.GetStructureType("experimental.robotics.motion_program.RobotPose",c) | |
| moveabsj_type = RRN.GetStructureType("experimental.robotics.motion_program.MoveAbsJCommand",c) | |
| movej_type = RRN.GetStructureType("experimental.robotics.motion_program.MoveJCommand",c) | |
| movel_type = RRN.GetStructureType("experimental.robotics.motion_program.MoveLCommand",c) | |
| movec_type = RRN.GetStructureType("experimental.robotics.motion_program.MoveCCommand",c) |
| import numpy as np | |
| import general_robotics_toolbox as rox | |
| # abb loaddata has the form [mass, [com_x, com_y, com_z], [aom_qw, aom_qx, aom_qy, aom_qz], ixx, iyy, izz] | |
| # abb uses mm while spatial inertia uses m | |
| abb_loaddata = [5,[1002,2003,0],[-0.00585693,0.595997,0.802901,-0.0101995],0.0349296,0.21552,0.250029] | |
| mass = abb_loaddata[0] | |
| com = np.array(abb_loaddata[1],dtype=np.float64)/1000.0 |
| service experimental.tesseract_robotics.environment | |
| import com.robotraconteur.geometry | |
| using com.robotraconteur.geometry.Pose | |
| using com.robotraconteur.geometry.SpatialInertia | |
| struct Visual | |
| field pose origin | |
| field varvalue geometry |
Python is a versatile and popular programming language. According to the TIOBE index, it is currently the world's most popular programming language. It has found extensive use and engineering and scientific applications, including robotics. Python is popular because it has clear/flexible syntax, a "batteries included" standard library, easy interfacing to native code, and a massive ecosystem of packages providing additional functionality. This document provides an overview of best practices for packaging Python robotics software for distribution.
There are many tutorials, blog posts, and whitepapers on Python packaging. This guide is intended to provide a quick overview of the most important aspects of packaging, with references to more detailed guides.
| import abb_motion_program_exec_client as abb | |
| import time | |
| client = abb.MotionProgramExecClient(base_url = 'http://127.0.0.1') | |
| ramdisk = client.get_ramdisk_path() | |
| small_file = b'0'*1024 | |
| small_t1 = time.perf_counter() | |
| client.upload_file(ramdisk + "/small.bin", small_file) |
| /** | |
| * @license | |
| * Copyright 2010 The Emscripten Authors | |
| * SPDX-License-Identifier: MIT | |
| */ | |
| // Implementation of functions from emscripten/eventloop.h. | |
| LibraryJSEventLoop = { | |
| emscripten_unwind_to_js_event_loop: function() { |
| import re | |
| import traceback | |
| import os | |
| from tesseract_robotics.tesseract_common import ResourceLocator, SimpleLocatedResource | |
| #resource locator class using GAZEBO_MODEL_PATH and model:// url | |
| class GazeboModelResourceLocator(ResourceLocator): | |
| def __init__(self): | |
| super().__init__() | |
| model_env_path = os.environ["GAZEBO_MODEL_PATH"] | |
| self.model_paths = model_env_path.split(os.pathsep) |