How-To: Workcells
The Workcell File
A given Workcell is represented declaratively in a YAML file. This file specifies the Modules, Locations, and Configuration of the Workcell, and is loaded by WEI when it starts up. This file should comply with the wei.types.Workcell schema.
Name
The name of the Workcell is specified at the top of the file. This is used by the system to distinguish between different Workcells.
Example Workcell Name
name: RPL_Modular_Workcell
Configuration
The configuration section specifies various properties of the Workcell, and determines how the WEI instance that loads the Workcell will behave. All of the values set here can be overridden by the user at runtime using command line parameters for both the WEI Engine and Server.
For a complete breakdown of configuration options, see wei.types.WorkcellConfig.
Example Config Section
config:
redis_host: "rpl_redis"
server_host: "rpl_modular_wc_server"
Modules
The modules section is a list of all the modules that make up the Workcell. Each module is represented by a dictionary with keys for the module’s name, model, interface, and configuration. The active flag is optional and can be used to mark a module as currently unused. The configuration section will vary depending on the specific interface used to communicate with the module.
Each module should conform to the wei.types.Module schema.
Example Modules Section
modules:
- name: sealer #Human-legible name specific to an individual component
active: true #Mark this module as active or inactive depending on whether or not it's used in the workflow
model: A4s_sealer #Type of device being connected to, might be multiple components of same model with different names in a workcell
interface: wei_rest_node #Method of communication with the device
config: #Relevant communication configuration
rest_node_address: "http://parker.cels.anl.gov:2000" #In this case, the rest url used to send actions to the component
- name: peeler
model: brooks_peeler
interface: wei_rest_node
config:
rest_node_address: "http://parker.cels.anl.gov:2001"
- name: sciclops
model: sciclops
interface: wei_rest_node
config:
rest_node_address: "http://parker.cels.anl.gov:2002"
- name: ot2_pcr_alpha
model: ot2
interface: wei_rest_node
config:
rest_node_address: "http://parker.cels.anl.gov:2003"
- name: ot2_gc_beta
model: ot2
interface: wei_rest_node
config:
rest_node_address: "http://parker.cels.anl.gov:2004"
- name: ot2_cp_gamma
model: ot2
interface: wei_rest_node
config:
rest_node_address: "http://parker.cels.anl.gov:2005"
- name: pf400
model: pf400
interface: wei_rest_node
config:
rest_node_address: "http://strange.cels.anl.gov:3000"
- name: camera_module
model: camera (logitech)
interface: wei_rest_node
config:
rest_node_address: "http://strange.cels.anl.gov:3001"
- name: hidex
active: False # Optional flag that marks this module as currently unused
model: Hidex
interface: wei_tcp_node
config:
tcp_node_address: "146.137.240.22"
tcp_node_port: 2000
- name: barty
active: True # Optional flag that marks this module as currently unused
model: RPL BARTY
interface: wei_rest_node
config:
rest_node_address: "http://kirby.cels.anl.gov:8000"
- name: MiR_base
active: False # Optional flag that marks this module as currently unused
model: MiR250
interface: wei_rest_node
config:
rest_node_address: "http://mirbase1.cels.anl.gov/api/v2.0.0/"
rest_node_auth: "/home/rpl/Documents/mirauth.txt"
- name: ur5
active: False # Optional flag that marks this module as currently unused
model: ur5
interface: wei_ros_node
config:
ros_node_address: '/ur5_client/UR5_Client_Node'
Locations
The locations section is a dictionary of all the locations in the Workcell. Locations are defined relative to each individual module, since different modules will represent the same location in different ways. Each location is represented by a key-value pair of the location’s name and the joint angles or other module-specific representation for that location.
Example Locations Section
locations:
pf400: #Joint angles for the PF400 Plate Handler
sciclops.exchange: [223.0, -38.068, 335.876, 325.434, 79.923, 995.062]
sealer.default: [206.087, -2.27, 265.371, 363.978, 76.078, 411.648]
peeler.default: [225.521, -24.846, 244.836, 406.623, 80.967, 398.778]
ot2_pcr_alpha.deck1_cooler: [247.999, -30.702, 275.835, 381.513, 124.830, -585.403]
ot2_growth_beta.deck2: [163.230, -59.032, 270.965, 415.013, 129.982, -951.510]
ot2_cp_gamma.deck2: [156, 66.112, 83.90, 656.404, 119.405, -946.818]
biometra.default: [247.0, 40.698, 38.294, 728.332, 123.077, 301.082]
camera_module.plate_station: [90.597,26.416, 66.422, 714.811, 81.916, 995.074]
wc.trash: [259.847, -36.810, 69.090, 687.466, 81.002, 995.035]
sciclops: #Joint angles for the Sciclops Plate Crane
sciclops.exchange: [0,0,0,0]
Complete Example
name: RPL_Modular_workcell
#Configuration of the Workcell
config:
redis_host: "rpl_redis"
server_host: "rpl_modular_wc_server"
#List of all modules that make up this workcell
modules:
- name: sealer #Human-legible name specific to an individual component
active: true #Mark this module as active or inactive depending on whether or not it's used in the workflow
model: A4s_sealer #Type of device being connected to, might be multiple components of same model with different names in a workcell
interface: wei_rest_node #Method of communication with the device
config: #Relevant communication configuration
rest_node_address: "http://parker.cels.anl.gov:2000" #In this case, the rest url used to send actions to the component
- name: peeler
model: brooks_peeler
interface: wei_rest_node
config:
rest_node_address: "http://parker.cels.anl.gov:2001"
- name: sciclops
model: sciclops
interface: wei_rest_node
config:
rest_node_address: "http://parker.cels.anl.gov:2002"
- name: ot2_pcr_alpha
model: ot2
interface: wei_rest_node
config:
rest_node_address: "http://parker.cels.anl.gov:2003"
- name: ot2_gc_beta
model: ot2
interface: wei_rest_node
config:
rest_node_address: "http://parker.cels.anl.gov:2004"
- name: ot2_cp_gamma
model: ot2
interface: wei_rest_node
config:
rest_node_address: "http://parker.cels.anl.gov:2005"
- name: pf400
model: pf400
interface: wei_rest_node
config:
rest_node_address: "http://strange.cels.anl.gov:3000"
- name: camera_module
model: camera (logitech)
interface: wei_rest_node
config:
rest_node_address: "http://strange.cels.anl.gov:3001"
- name: hidex
active: False # Optional flag that marks this module as currently unused
model: Hidex
interface: wei_tcp_node
config:
tcp_node_address: "146.137.240.22"
tcp_node_port: 2000
- name: barty
active: True # Optional flag that marks this module as currently unused
model: RPL BARTY
interface: wei_rest_node
config:
rest_node_address: "http://kirby.cels.anl.gov:8000"
- name: MiR_base
active: False # Optional flag that marks this module as currently unused
model: MiR250
interface: wei_rest_node
config:
rest_node_address: "http://mirbase1.cels.anl.gov/api/v2.0.0/"
rest_node_auth: "/home/rpl/Documents/mirauth.txt"
- name: ur5
active: False # Optional flag that marks this module as currently unused
model: ur5
interface: wei_ros_node
config:
ros_node_address: '/ur5_client/UR5_Client_Node'
locations:
pf400: #Joint angles for the PF400 Plate Handler
sciclops.exchange: [223.0, -38.068, 335.876, 325.434, 79.923, 995.062]
sealer.default: [206.087, -2.27, 265.371, 363.978, 76.078, 411.648]
peeler.default: [225.521, -24.846, 244.836, 406.623, 80.967, 398.778]
ot2_pcr_alpha.deck1_cooler: [247.999, -30.702, 275.835, 381.513, 124.830, -585.403]
ot2_growth_beta.deck2: [163.230, -59.032, 270.965, 415.013, 129.982, -951.510]
ot2_cp_gamma.deck2: [156, 66.112, 83.90, 656.404, 119.405, -946.818]
biometra.default: [247.0, 40.698, 38.294, 728.332, 123.077, 301.082]
camera_module.plate_station: [90.597,26.416, 66.422, 714.811, 81.916, 995.074]
wc.trash: [259.847, -36.810, 69.090, 687.466, 81.002, 995.035]
sciclops: #Joint angles for the Sciclops Plate Crane
sciclops.exchange: [0,0,0,0]