verification working

2026-01-30 17:03:19 -03:00
parent 61bc384826
commit 380c466170
2 changed files with 825 additions and 0 deletions
--- a/dataflow_verify_ulite6_zed.yml
+++ b/dataflow_verify_ulite6_zed.yml
@@ -0,0 +1,71 @@
+nodes:
+  - id: zed_camera_cpp
+    build: bash -lc "cmake -S dora_zed_cpp -B dora_zed_cpp/build && cmake --build dora_zed_cpp/build"
+    path: dora_zed_cpp/build/dora_zed_cpp
+    env:
+      ZED_RESOLUTION: "720"
+      ZED_FPS: "15"
+      ZED_DEPTH_MODE: "NEURAL"
+      ZED_DEPTH_MIN_MM: "10"
+      ZED_DEPTH_MAX_MM: "600"
+      ZED_DEPTH_FILL: "false"
+      ZED_FLIP: "ON"
+      ZED_WARMUP_FRAMES: "30"
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - image_bgr
+      - camera_info
+  - id: ulite6
+    build: uv pip install -e dora_ulite6
+    path: dora_ulite6/dora_ulite6/main.py
+    inputs:
+      tick: dora/timer/millis/10
+      command: verify/robot_cmd
+    outputs:
+      - tcp_pose
+      - status
+    env:
+      ROBOT_IP: "192.168.1.192"
+      DEFAULT_SPEED: "30"
+      DEFAULT_UNITS: "mm"
+      API_HOST: "0.0.0.0"
+      API_PORT: "9000"
+      VACUUM_ENABLED: "false"
+  - id: verify
+    build: |
+      uv venv -p 3.12 --seed --allow-existing
+      uv pip install -e dora_calibration
+    path: dora_calibration/dora_calibration/verify_eye_in_hand.py
+    env:
+      VIRTUAL_ENV: ./.venv
+      IMAGE_INPUT: "image_bgr"
+      CAMERA_INFO_INPUT: "camera_info"
+      POSE_INPUT: "tcp_pose"
+      STATUS_INPUT: "status"
+      COMMAND_OUTPUT: "robot_cmd"
+      CALIBRATION_FILE: "calibration_ulite6_zed.npz"
+      SQUARES_X: "4"
+      SQUARES_Y: "6"
+      SQUARE_LENGTH: "0.04"
+      MARKER_LENGTH: "0.03"
+      TCP_OFFSET_MM: "63.0"
+      Z_OFFSET_MM: "0.0"
+      HOME_X: "200"
+      HOME_Y: "0"
+      HOME_Z: "300"
+      HOME_ROLL: "180"
+      HOME_PITCH: "0"
+      HOME_YAW: "0"
+      MOVE_HOME_ON_START: "true"
+      POSE_STABILITY_WINDOW: "0.5"
+      POSE_STABILITY_EPS_MM: "0.5"
+      POSE_STABILITY_EPS_DEG: "0.5"
+    inputs:
+      image_bgr: zed_camera_cpp/image_bgr
+      camera_info: zed_camera_cpp/camera_info
+      tcp_pose: ulite6/tcp_pose
+      status: ulite6/status
+      tick: dora/timer/millis/100
+    outputs:
+      - robot_cmd