johnwason · September 3, 2025 05:31
diff --git a/README.md b/README.md
diff --git a/reynard_client.m b/reynard_client.m
 function reynard_robotraconteur_client()

 % Connect to the Reynard service using a URL
 c = RobotRaconteur.ConnectService('rr+tcp://10.42.0.1:29200?service=reynard');

 % Enable events. Don't use if no event listeners are connected
 RobotRaconteur.EnableEvents(c);

 % Connect a callback function to listen for new messages
 evt = addlistener(c, 'new_message', @new_message_callback);

 % Read the current state using a wire "peek". Can also "connect" to receive streaming updates.
 state = c.state.PeekInValue();
 disp(state);

 % Teleport the robot
 c.teleport(0.1,-0.2);

 % Drive the robot with no timeout
 c.drive_robot(0.5,-0.2,-1,false);

 % Wait for one second
 pause(1)

 % Stop the robot
 c.drive_robot(0,0,-1,false);

 % Set the arm position
 c.setf_arm_position(deg2rad(100), deg2rad(-30), deg2rad(-70));

 % Drive the arm using timeout and wait
 c.drive_arm(deg2rad(10), deg2rad(-30), deg2rad(-15), 1.5, true);

 % Set the color to red
 c.color = [1,0,0]';

 % Read the color
 c_color = c.color;
 disp(c_color)

 pause(1);

 % Reset the color
 c.color = [0.929, 0.49, 0.192]';

 % Say hello
 c.say('Hello, World From Matlab!');

 % Process events using ProcessRequests() function.
 % Matlab is single threaded, so asynchronous events need to
 % be executed using ProcessRequests()
 for i=1:10
    RobotRaconteur.ProcessRequests();
    pause(0.1);
 end

    % Callback function for new_message
    function new_message_callback(msg)
       disp(['New message: ' msg]);
    end

 end
diff --git a/reynard_client.py b/reynard_client.py
 from RobotRaconteur.Client import *
 import time
 import numpy as np

 # Connect to the Reynard service using a URL
 c = RRN.ConnectService('rr+tcp://10.42.0.1:29200?service=reynard')


 def new_message(msg):
    print(f"New message: {msg}")


 # Connect a callback function to listen for new messages
 c.new_message += new_message

 # Read the current state using a wire "peek". Can also "connect" to receive streaming updates.
 state, _ = c.state.PeekInValue()
 print(state)

 # Teleport the robot
 c.teleport(0.1, -0.2)

 # Drive the robot with no timeout
 c.drive_robot(0.5, -0.2, -1, False)

 # Wait for one second
 time.sleep(1)

 # Stop the robot
 c.drive_robot(0, 0, -1, False)

 # Set the arm position
 c.setf_arm_position(np.deg2rad(100), np.deg2rad(-30), np.deg2rad(-70))

 # Drive the arm using timeout and wait
 c.drive_arm(np.deg2rad(10), np.deg2rad(-30), np.deg2rad(-15), 1.5, True)

 # Set the color to red
 c.color = (1, 0, 0)

 # Read the color
 print(f"Color: {c.color}")

 time.sleep(1)

 # Reset the color
 c.color = (0.929, 0.49, 0.192)

 # Say hello
 c.say("Hello, World From Robot Raconteur!")
	function reynard_robotraconteur_client()

	% Connect to the Reynard service using a URL
	c = RobotRaconteur.ConnectService('rr+tcp://10.42.0.1:29200?service=reynard');

	% Enable events. Don't use if no event listeners are connected
	RobotRaconteur.EnableEvents(c);

	% Connect a callback function to listen for new messages
	evt = addlistener(c, 'new_message', @new_message_callback);

	% Read the current state using a wire "peek". Can also "connect" to receive streaming updates.
	state = c.state.PeekInValue();
	disp(state);

	% Teleport the robot
	c.teleport(0.1,-0.2);

	% Drive the robot with no timeout
	c.drive_robot(0.5,-0.2,-1,false);

	% Wait for one second
	pause(1)

	% Stop the robot
	c.drive_robot(0,0,-1,false);

	% Set the arm position
	c.setf_arm_position(deg2rad(100), deg2rad(-30), deg2rad(-70));

	% Drive the arm using timeout and wait
	c.drive_arm(deg2rad(10), deg2rad(-30), deg2rad(-15), 1.5, true);

	% Set the color to red
	c.color = [1,0,0]';

	% Read the color
	c_color = c.color;
	disp(c_color)

	pause(1);

	% Reset the color
	c.color = [0.929, 0.49, 0.192]';

	% Say hello
	c.say('Hello, World From Matlab!');

	% Process events using ProcessRequests() function.
	% Matlab is single threaded, so asynchronous events need to
	% be executed using ProcessRequests()
	for i=1:10
	RobotRaconteur.ProcessRequests();
	pause(0.1);
	end

	% Callback function for new_message
	function new_message_callback(msg)
	disp(['New message: ' msg]);
	end

	end
	from RobotRaconteur.Client import *
	import time
	import numpy as np

	# Connect to the Reynard service using a URL
	c = RRN.ConnectService('rr+tcp://10.42.0.1:29200?service=reynard')


	def new_message(msg):
	print(f"New message: {msg}")


	# Connect a callback function to listen for new messages
	c.new_message += new_message

	# Read the current state using a wire "peek". Can also "connect" to receive streaming updates.
	state, _ = c.state.PeekInValue()
	print(state)

	# Teleport the robot
	c.teleport(0.1, -0.2)

	# Drive the robot with no timeout
	c.drive_robot(0.5, -0.2, -1, False)

	# Wait for one second
	time.sleep(1)

	# Stop the robot
	c.drive_robot(0, 0, -1, False)

	# Set the arm position
	c.setf_arm_position(np.deg2rad(100), np.deg2rad(-30), np.deg2rad(-70))

	# Drive the arm using timeout and wait
	c.drive_arm(np.deg2rad(10), np.deg2rad(-30), np.deg2rad(-15), 1.5, True)

	# Set the color to red
	c.color = (1, 0, 0)

	# Read the color
	print(f"Color: {c.color}")

	time.sleep(1)

	# Reset the color
	c.color = (0.929, 0.49, 0.192)

	# Say hello
	c.say("Hello, World From Robot Raconteur!")