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 the SDK-based Robot control implementation. Moves the robot and verifies the implementation of methods described in Robot SDK. In particular the implementation of the high-frequency control loop. The direction (x, y or z axis) and length of the test movement can be configured.
usage: mirai-sandbox [-h] [-m MODEL] [-sl SPEED_LINEAR] [-sa SPEED_ANGULAR]
[-d DIMENSION] [-l LENGTH] [-ip IP_ADDRESS]
[-tl TOLERANCE_LINEAR] [-ta TOLERANCE_ANGULAR] [-v]
path
Micropsi Industries Robot SDK Tool
positional arguments:
path Path to the robot implementation
optional arguments:
-h, --help show this help message and exit
-m MODEL, --model MODEL
Name of the robot model as defined in the implementation.
-sl SPEED_LINEAR, --speed-linear SPEED_LINEAR
Linear end-effector speed, meters per second.
Default: 0.05, Max: 0.1
-sa SPEED_ANGULAR, --speed-angular SPEED_ANGULAR
Angular end-effector speed, radians per second.
Default: 0.2617993877991494, Max: 0.6981317007977318
-d DIMENSION, --dimension DIMENSION
Number of axes to move the robot in.
Default: 1
-l LENGTH, --length LENGTH
Length of test movement, meters.
Default:0.05, Max: 0.1m
-ip IP_ADDRESS, --ip-address IP_ADDRESS
IP address of the robot.
Default: 192.168.100.100
-tl TOLERANCE_LINEAR, --tolerance-linear TOLERANCE_LINEAR
Linear tolerance of the end-effector position achieved by robot.
Default: 0.001 meters
-ta TOLERANCE_ANGULAR, --tolerance-angular TOLERANCE_ANGULAR
Angular tolerance of the end-effector position achieved by robot.
Default: 0.01 radians
-v, --verbose Enable debug logging.
Usage example: mirai-sandbox ./examples/cartesian_velocity_robot.pyThis 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