Add Robot Raconteur service

.gitignore

@@ -1,3 +1,164 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
 *.pc
 *.tp
 build/*

README.md

@@ -264,6 +264,45 @@ with open("fanuc_log.csv","wb") as f:
 print(res.decode('utf-8'))
 ```
 
+# Robot Raconteur Service
+
+A Robot Raconteur service is available to allow a client to execute multi-move programs. The service
+uses a standards track service definition `experimental.robotics.motion_program` that will provide interoperability
+between multiple robot types. Due to the differences in the robot commands between controller implementations there 
+may be slight differences in the commands between robots, but in general the commands are very similar.
+
+When installing the module, include the `robotraconteur` option to get the required dependencies:
+
+```bash
+python -m pip install fanuc-motion-program-exec[robotraconteur]
+```
+
+Start the service, specifying a robot info file:
+
+```
+fanuc-motion-program-exec-robotraconteur --mp-robot-info-file=config/FANUC_lrmate200id_motion_program_robot_default_config.yml
+```
+
+Optionally start using a module if the entrypoint does not work:
+
+```
+python -m fanuc_motion_program_exec_client.robotraconteur --mp-robot-info-file=config/FANUC_lrmate200id_motion_program_robot_default_config.yml
+```
+
+The following options are supported:
+
+* `--mp-robot-info-file=` - The info file that specifies information about the robot
+* `--mp-robot-ip=` - The connection IP address of the robot. Defaults to `127.0.0.1`
+   for use with RoboGuide virtual controllers. Set `127.0.0.1` to the WAN IP address of the robot.
+* `--mp-robot-username=` - The robot controller username. Defaults to "robot"
+* `--mp-robot2-ip=` - Connection IP of second robot controller
+* `--mp-robot2-username=` - Username for second robot controller
+
+Examples for a single robot and multi-move robots are in the `examples/robotraconteur` directory. The motion
+programs make heavy use of `varvalue` types to allow for flexibility in the motion program contents.
+The Python type `RR.VarValue` is used to represent the `varvalue` type. See the Robot Raconteur Python documentation
+for more inforamtion on how `RR.VarValue` works and why it is necessary.
+
 ## License
 
 Apache 2.0 License, Copyright 2022 Rensselaer Polytechnic Institute

config/FANUC_lrmate200id_motion_program_robot_default_config.yml

@@ -0,0 +1,162 @@
+robot_info:
+  device_info:
+    device:
+      name: fanuc_lrmate200id
+    manufacturer:
+      name: FANUC
+      uuid: d80db3c2-3de8-41e3-97f9-62765a7063b8
+    model:
+      name: lrmate200id
+      uuid: 1d3f5111-01fa-4ecf-a11e-76810d5e1dde
+    user_description: FANUC lrmate200id Robot
+    serial_number: 123456789
+    device_classes:
+      - class_identifier:
+          name: robot
+          uuid: 39b513e7-21b9-4b49-8654-7537473030eb
+        subclasses: 
+          - serial
+          - serial_six_axis
+          - cobot
+    implemented_types:
+      - com.robotraconteur.robotics.robot.Robot
+  robot_type: serial
+  robot_capabilities:
+  - jog_command
+  - trajectory_command
+  - position_command
+  - velocity_command
+  chains:
+  - kin_chain_identifier: robot_arm
+    H:
+    - x: 0.0
+      y: 0.0
+      z: 1.0
+    - x: 0.0
+      y: 1.0
+      z: 0.0
+    - x: 0.0
+      y: 1.0
+      z: 0.0
+    - x: 1.0
+      y: 0.0
+      z: 0.0
+    - x: 0.0
+      y: 1.0
+      z: 0.0
+    - x: 1.0
+      y: 0.0
+      z: 0.0
+    P:
+    - x: 0.0
+      y: 0.0
+      z: 330 
+    - x: 50
+      y: 0.0
+      z: 0.0
+    - x: 0.
+      y: 0.0
+      z: 330
+    - x: 0.0
+      y: 0.0
+      z: 35
+    - x: 335
+      y: 0.0
+      z: 0.0
+    - x: 80
+      y: 0.0
+      z: 0.0
+    - x: 0.0
+      y: 0.0
+      z: 0.0
+    flange_identifier: tool0
+    flange_pose:
+      orientation:
+        w: 0.7071067811882787
+        x: 0.0
+        y: 0.7071067811882787
+        z: 0.0
+      position:
+        x: 0
+        y: 0.0
+        z: 0
+    joint_numbers:
+    - 0
+    - 1
+    - 2
+    - 3
+    - 4
+    - 5
+  joint_info:
+  - default_effort_units: newton_meter
+    default_units: radian
+    joint_identifier: joint_1
+    joint_limits:
+      effort: 1000
+      lower: -2.96705972
+      upper: 2.96705972
+      velocity: 7.85398163
+      acceleration: 10
+    joint_type: revolute
+    passive: false
+  - default_effort_units: newton_meter
+    default_units: radian
+    joint_identifier: joint_2
+    joint_limits:
+      effort: 1000
+      lower: -1.74532925
+      upper: 2.53072742
+      velocity: 6.63225116
+      acceleration: 15
+    joint_type: revolute
+    passive: false
+  - default_effort_units: newton_meter
+    default_units: radian
+    joint_identifier: joint_3
+    joint_limits:
+      effort: 1000
+      lower: -3.57792497
+      upper: 1.22173048
+      velocity: 9.07571211
+      acceleration: 15
+    joint_type: revolute
+    passive: false
+  - default_effort_units: newton_meter
+    default_units: radian
+    joint_identifier: joint_4
+    joint_limits:
+      effort: 1000
+      lower: -3.31612557
+      upper: 3.31612557
+      velocity: 9.59931089
+      acceleration: 20
+    joint_type: revolute
+    passive: false
+  - default_effort_units: newton_meter
+    default_units: radian
+    joint_identifier: joint_5
+    joint_limits:
+      effort: 1000
+      lower: -2.18166156
+      upper:  2.18166156
+      velocity: 9.51204442
+      acceleration: 20
+    joint_type: revolute
+    passive: false
+  - default_effort_units: newton_meter
+    default_units: radian
+    joint_identifier: joint_6
+    joint_limits:
+      effort: 1000
+      lower: -6.28318530718
+      upper: 6.28318530718
+      velocity: 17.45329252
+      acceleration: 20
+    joint_type: revolute
+    passive: false
+supported_commands:
+  - MoveAbsJ
+  - MoveJ
+  - MoveL
+  - MoveC
+  - WaitTime