PyRI Open Source Teach Pendant Robotics Package
This package is part of the PyRI project. See https://github.com/pyri-project/pyri-core#documentation for documentation. This package is included in the pyri-robotics-superpack Conda package.
The pyri-robotics package contains plugins and services for robotics.
Blocks and Sandbox Functions
This package contains Blockly blocks and PyRI sandbox functions to communicate with and command robots. See robot_blocks_functions.md for more information.
Services
pyri-robotics provides two services:
pyri-robotics-jog-service
The pyri-robotics-jog-service provides interactive jog control support for the WebUI.
This service is started automatically by pyri-core, and does not normally need to be started manually.
Standalone service command line example:
pyri-robotics-jog-serviceThe pyri-variable-storage and pyri-device-manager services must be running before use.
Command line options:
| Option | Type | Required | Description |
|---|---|---|---|
--device-manager-url= |
Robot Raconteur URL | No | Robot Raconteur URL of device manager service |
--device-manager-identifier= |
Identifier | No | Robot Raconteur device identifier in string format for device manager service |
--device-info-file= |
File | No | Robot Raconteur DeviceInfo YAML file. Defaults to contents of pyri_robotics_jog_service_default_info.yml |
This service may use any standard --robotraconteur-* service node options.
This service uses the DeviceManagerClient, which needs to connect to the device manager service to find other devices. This can be done using discovery based on a Robot Raconteur device identifier, or using a specified Robot Raconteur URL. If neither is specified, the DeviceManagerClient will search for the identifier named pyri_device_manager on the local machine.
pyri-robotics-motion-service
The pyri-robotics-motion-service provides interactive jog control support for the WebUI.
This service is started automatically by pyri-core, and does not normally need to be started manually.
Standalone service command line example:
pyri-robotics-motion-serviceThe pyri-variable-storage and pyri-device-manager services must be running before use.
Command line options:
| Option | Type | Required | Description |
|---|---|---|---|
--device-manager-url= |
Robot Raconteur URL | No | Robot Raconteur URL of device manager service |
--device-manager-identifier= |
Identifier | No | Robot Raconteur device identifier in string format for device manager service |
--device-info-file= |
File | No | Robot Raconteur DeviceInfo YAML file. Defaults to contents of pyri_robotics_motion_service_default_info.yml |
This service may use any standard --robotraconteur-* service node options.
This service uses the DeviceManagerClient, which needs to connect to the device manager service to find other devices. This can be done using discovery based on a Robot Raconteur device identifier, or using a specified Robot Raconteur URL. If neither is specified, the DeviceManagerClient will search for the identifier named pyri_device_manager on the local machine.
Acknowledgment
This work was supported in part by Subaward No. ARM-TEC-19-01-F-24 from the Advanced Robotics for Manufacturing ("ARM") Institute under Agreement Number W911NF-17-3-0004 sponsored by the Office of the Secretary of Defense. ARM Project Management was provided by Christopher Adams. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of either ARM or the Office of the Secretary of Defense of the U.S. Government. The U.S. Government is authorized to reproduce and distribute reprints for Government purposes, notwithstanding any copyright notation herein.
This work was supported in part by the New York State Empire State Development Division of Science, Technology and Innovation (NYSTAR) under contract C160142.
PyRI is developed by Rensselaer Polytechnic Institute, Wason Technology, LLC, and contributors.