Added 'wait_until_finished' command for MIR; UR does not activate unt…

…il all missions executed
AD-SDL · Sep 5, 2024 · 771ed99 · 771ed99
1 parent 98e7041
commit 771ed99
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Showing 7 changed files with 134 additions and 53 deletions.
diff --git a/applications/example_app/pyproject.toml b/applications/example_app/pyproject.toml
@@ -1,8 +1,8 @@
-[project]
+[isotope_workcell]
 name = "example_app"
-version = "1.0.0"
-description = "A simple example WEI application that waits for a set amount of time, then takes a picture with a webcam."
-authors = [{name = "Ryan D. Lewis", email="ryan.lewis@anl.gov"}]
+version = "1.1.0"
+description = "A sample WEI application for the isotope workcell to test mir, UR, and camera communications."
+authors = [{name = "Aileen Cleary", email="acleary@anl.gov"}]
 dependencies = [
     "ad_sdl.wei",
     "requests"
@@ -12,4 +12,4 @@ readme = "README.md"
 license = {text = "MIT"}
 
 [project.urls]
-homepage = "https://github.com/AD-SDL/wei_template_workcell"
+homepage = "https://github.com/AD-SDL/isotope_workcell"
diff --git a/applications/example_app/src/example_app.py b/applications/example_app/src/example_app.py
@@ -9,47 +9,57 @@
 
 from wei import ExperimentClient
 
-def run_camera(database, camera, verbose):
-    start = time.time()
-    url = "http://146.137.240.84:8001/execute-script/"
-    payload = {
-        "database": database,
-        "camera": camera,
-        "verbose": verbose
-    }
+# def run_camera(database, camera, verbose):
+#     start = time.time()
+#     url = "http://146.137.240.84:8001/execute-script/"
+#     payload = {
+#         "database": database,
+#         "camera": camera,
+#         "verbose": verbose
+#     }
 
-    response = requests.post(url, json=payload).json().get("text")
-    end = time.time()
-    time_taken = end - start
-    print(response)
+#     response = requests.post(url, json=payload).json().get("text")
+#     end = time.time()
+#     time_taken = end - start
+#     #print(response)
 
-    return response, time_taken
+#     return response, time_taken
 
 def main() -> None:
 
-    time_avg = 0
-    stored_data = []
+    # time_avg = 0
+    # stored_data = []
 
     exp = ExperimentClient("localhost", "8000", "mir_test")
     exp._register_experiment()
-    wf_path = Path(__file__).parent.parent / "workflows" / "test_workflow.yaml"
+    mir_path = Path(__file__).parent.parent / "workflows" / "test_workflow.yaml"
+    ur_path = Path(__file__).parent.parent / "workflows" / "ur_joint_disconnect_workflow.yaml"
+    payload = {
+        "waypoint_1" : "[-4.88745, -1.42041, 2.08027, -0.63891, 1.4028, -0.02912]",
+        "waypoint_2" : "[-5.40313, -1.48324, 2.38776, -0.88424, 1.89998, -0.00733]",
+        "waypoint_3" : "[-5.3892, -1.01121, 2.48123, -1.45123, 1.91534, -0.01163]",
+        "waypoint_4" : "[-5.38928, -0.97805, 2.47837, -1.48201, 1.91513, -0.01191]"
+    }
 
     for _ in range(1): 
         run_info = exp.start_run(
-            wf_path.resolve(),
+            mir_path.resolve(),
+        )
+        run_info = exp.start_run(
+            ur_path.resolve(), payload=payload
         )
 
-        data, time_taken = run_camera(
-            database="mir.db",
-            camera="CALIB_Logi_RPL_20240508/",
-            verbose=True
-            )
-        stored_data.append(data)
-        time_avg += time_taken
-        time.sleep(150)
+        # data, time_taken = run_camera(
+        #     database="mir.db",
+        #     camera="CALIB_Logi_RPL_20240508/",
+        #     verbose=True
+        #     )
+        # stored_data.append(data)
+        # time_avg += time_taken
+
 
-    print("Base timeline for un-optimized camera communication: ", time_avg/10)
-    print(json.dumps(run_info, indent=2))
+    #print("Base timeline for un-optimized camera communication: ", time_avg/10)
+    #print(json.dumps(run_info, indent=2))
 
 if __name__ == "__main__":
     main()
diff --git a/applications/example_app/workflows/test_workflow.yaml b/applications/example_app/workflows/test_workflow.yaml
@@ -24,10 +24,8 @@ flowdef:
       target_location: "charger1"
     comment: Dock to charger.
 
-  - name: Wait
+  - name: Wait until Done.
     module: mir_base
-    action: add_wait
-    args:
-      delay_seconds : 60
-    comment: Wait at charger for 60 seconds to allow images to be captured.
+    action: wait_until_finished
+    comment: Waits for previous mission to be done executing before continuing.
 
diff --git a/applications/example_app/workflows/ur_joint_disconnect_workflow.yaml b/applications/example_app/workflows/ur_joint_disconnect_workflow.yaml
@@ -0,0 +1,73 @@
+name: ur_joint_disconnect_workflow
+metadata:
+  author: Aileen Cleary
+  info: Workflow for disconnecting sample joint using UR.
+  version: 0.1
+
+modules:
+  - name: ur
+
+flowdef:
+  - name: Move to home position.
+    module: ur
+    action: movej
+    args:
+      joints: payload.waypoint_1
+    comment: Move to home position.
+
+  - name: Open gripper.
+    module: ur
+    action: toggle_gripper
+    args:
+      open: True
+    comment: Opens gripper.
+
+  - name: Center above joint.
+    module: ur
+    action: movej
+    args:
+      joints: payload.waypoint_2
+    comment: Center above joint.
+
+  - name: Go to joint.
+    module: ur
+    action: movej
+    args:
+      joints: payload.waypoint_3
+    comment: Position gripper around joint shaft.
+
+  - name: Grab joint.
+    module: ur
+    action: toggle_gripper
+    args:
+      close: True
+    comment: Close gripper around joint.
+
+  - name: Disconnect joint.
+    module: ur
+    action: movej
+    args:
+      joints: payload.waypoint_4
+    comment: Pull joint shaft down to disconnect.
+
+  - name: Open gripper.
+    module: ur
+    action: toggle_gripper
+    args:
+      open: True
+    comment: Opens gripper.
+
+  - name: Center above joint.
+    module: ur
+    action: movej
+    args:
+      joints: payload.waypoint_2
+    comment: Center above joint.
+
+  - name: Move to home position.
+    module: ur
+    action: movej
+    args:
+      joints: payload.waypoint_1
+    comment: Move to home position.
+
diff --git a/compose.yaml b/compose.yaml
@@ -7,20 +7,20 @@ include:
 
 services:
   mir_node:
-    image: ghcr.io/ad-sdl/mir_module:dev
+    image: ghcr.io/ad-sdl/mir_module:aileen_dev
     container_name: mir_node
     privileged : true
     command: python -m mir_rest_node --port 2000
     ports:
       - 2000:2000
     env_file:
       - .env
-  # ur_node:
-  #   image: ghcr.io/ad-sdl/ur_module
-  #   container_name: ur_node
-  #   privileged: true 
-  #   ports:
-  #     - 2001:2001
-  #   command: python -m camera_rest_node --port 2001
-  #   env_file:
-  #     - .env
+  ur_node:
+    image: ghcr.io/ad-sdl/ur_module:latest
+    container_name: ur_node
+    privileged: true 
+    ports:
+      - 2001:2001
+    command: python -m ur_rest_node --port 2001 --ur_ip ${UR_IP}
+    env_file:
+      - .env
diff --git a/docker/wei.compose.yaml b/docker/wei.compose.yaml
@@ -13,7 +13,7 @@ services:
     environment:
       - USER_ID=${USER_ID:-1000}
       - GROUP_ID=${GROUP_ID:-1000}
-    command: python3 -m wei.server --workcell /workcell_defs/${WORKCELL_FILENAME}
+    command: python3 -m wei.server --workcell /workcell_defs/${WORKCELL_FILENAME} --autostart_engine True
     depends_on:
       - wei_redis
 

diff --git a/workcell_defs/isotope_workcell.yaml b/workcell_defs/isotope_workcell.yaml
@@ -16,9 +16,9 @@ modules:
     interface: wei_rest_node
     config:
       rest_node_address: "http://mir_node:2000"
-  # - name: ur
-  #   model: ur
-  #   interface: wei_rest_node
-  #   config:
-  #     rest_node_address: "http://ur_node:2001"
+  - name: ur
+    model: ur
+    interface: wei_rest_node
+    config:
+      rest_node_address: "http://ur_node:2001"