This package is part of the PyRI project. See https://github.com/pyri-project/pyri-core#documentation for documentation.
The pyri-robotics-motion-program package contains plugins and services for robotics motion programs. The
pyri-robotics package supports devices that implement the com.robotraconteur.robotics.robot.Robot standard type.
This standard type is intended for use with robots that support streaming interfaces. The pyri-robotics-motion-program
package is intended to be used with devices that implement the new
experimental.robotics.motion_program.MotionProgramRobot candidate standard robot type. These robots execute a
"motion program" consisting of a sequence of motion commands, that are typically executed using the vendor controller's
motion control computer. For an ABB robot, these commands include MoveAbsJ, MoveJ, MoveL, and MoveC, among
others. The exact implementation varies between robot vendors, but generally the motion program driver will
create a file or memory buffer describing the commands to execute, and a software programming running on the
vendor controller will interpret the file and execute the commands. Some drivers like the
abb_robotraconteur_driver_hmp driver are "hybrid" drivers implementing both Robot and MotionProgramRobot.
This package provides blockly and sandbox functions to build motion programs and request execution on the robot.
This package also provides a motion_program_opt_service that implements motion program optimization algorithms.
These algorithms are designed to generate a sequence of optimal motion primitives that track an arbitrary dense
trajectory at a specified velocity. This type of operation is generally used for painting and cold-spray
manufacturing processes. The corresponding pyri-motion-program-robot-browser package provides a graphical
user interface frontend for the motion optimization service. See
motion_program_opt_gui.md for instructions to use the gui.
This package is not installed by default. After installing PyRI as described in the pyri-core readme, execute the
following to install:
python -m pip install --extra-index-url=https://pyri-project.github.io/pyri-package-server/ pyri-robotics-motion-program
pyri-cli webui-install --extra-index-url=https://pyri-project.github.io/pyri-package-server/ pyri-robotics-motion-program-browser
This package contains Blockly blocks and PyRI sandbox functions to build and execute motion programs. See motion_program_robot_blocks_functions.md for more information.
pyri-robotics-motion-program provides the motion_program_opt_service:
The motion_program_opt_service implements the motion program optimization algorithm.
This service is not started automatically, and must be started from the command line.
Standalone service command line example:
python -m pyri.robotics_motion_program.motion_program_opt_service
The 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.
A WebUI panel is available for motion program optimization. See motion_program_opt_gui.md for more information.
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.