72 lines
1.9 KiB
YAML
72 lines
1.9 KiB
YAML
nodes:
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- id: zed_camera_cpp
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build: bash -lc "cmake -S dora_zed_cpp -B dora_zed_cpp/build && cmake --build dora_zed_cpp/build"
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path: dora_zed_cpp/build/dora_zed_cpp
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env:
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ZED_RESOLUTION: "720"
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ZED_FPS: "15"
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ZED_DEPTH_MODE: "NEURAL"
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ZED_DEPTH_MIN_MM: "10"
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ZED_DEPTH_MAX_MM: "600"
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ZED_DEPTH_FILL: "false"
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ZED_FLIP: "ON"
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ZED_WARMUP_FRAMES: "30"
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inputs:
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tick: dora/timer/millis/100
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outputs:
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- image_bgr
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- camera_info
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- id: ulite6
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build: uv pip install -e dora_ulite6
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path: dora_ulite6/dora_ulite6/main.py
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inputs:
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tick: dora/timer/millis/10
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command: verify/robot_cmd
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outputs:
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- tcp_pose
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- status
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env:
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ROBOT_IP: "192.168.1.192"
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DEFAULT_SPEED: "30"
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DEFAULT_UNITS: "mm"
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API_HOST: "0.0.0.0"
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API_PORT: "9000"
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VACUUM_ENABLED: "false"
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- id: verify
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build: |
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uv venv -p 3.12 --seed --allow-existing
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uv pip install -e dora_calibration
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path: dora_calibration/dora_calibration/verify_eye_in_hand.py
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env:
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VIRTUAL_ENV: ./.venv
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IMAGE_INPUT: "image_bgr"
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CAMERA_INFO_INPUT: "camera_info"
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POSE_INPUT: "tcp_pose"
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STATUS_INPUT: "status"
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COMMAND_OUTPUT: "robot_cmd"
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CALIBRATION_FILE: "calibration_ulite6_zed.npz"
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SQUARES_X: "4"
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SQUARES_Y: "6"
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SQUARE_LENGTH: "0.04"
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MARKER_LENGTH: "0.03"
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TCP_OFFSET_MM: "63.0"
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Z_OFFSET_MM: "0.0"
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HOME_X: "200"
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HOME_Y: "0"
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HOME_Z: "300"
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HOME_ROLL: "180"
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HOME_PITCH: "0"
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HOME_YAW: "0"
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MOVE_HOME_ON_START: "true"
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POSE_STABILITY_WINDOW: "0.5"
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POSE_STABILITY_EPS_MM: "0.5"
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POSE_STABILITY_EPS_DEG: "0.5"
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inputs:
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image_bgr: zed_camera_cpp/image_bgr
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camera_info: zed_camera_cpp/camera_info
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tcp_pose: ulite6/tcp_pose
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status: ulite6/status
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tick: dora/timer/millis/100
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outputs:
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- robot_cmd
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