The SereactClient is a Python package specifically designed to facilitate interaction with the Sereact Picking Server through gRPC communication. This class offers a clean and intuitive interface for sending requests to the server while effectively managing response statuses. It will be relased as an open-source python package soon.

Constructor

__init__(self, url: str, sereact_api_key: str) -> None

Initializes a new instance of the SereactClient class.

• Parameters:
  • url (str): The URL of the Sereact Picking Server
  • sereact_api_key (str): The API key required for authorization in requests. This key is provided by Sereact GmbH upon request.

Methods

connect() -> bool

Establishes a connection to the Sereact server using the provided url. Returns True if the connection is successfully established.

• Returns:
  • bool: The status of the connection.

get_connection_status() -> bool

Returns the current connection status. True indicates that the connection is still established; otherwise, it returns False.

• Returns:
  • bool: The current connection status.

get_grasp(rgb: np.ndarray, depth: np.ndarray, camera_parameters: dict[str]) -> List[dict]

Sends an image to the Sereact Picking Server and receives grasping information in the form of a list of available objects.

• Parameters:

  • rgb: A numpy array holding the RGB image.
  • depth: A numpy array holding the depth image.
  • camera_parameters: Current camera parameters. It must follow this dictionary format:

  {
    "intrinsics": #Camera intrinsic
    {
      "fx": 0,
      "fy": 0,
      "cx": 0,
      "cy": 0,
    }
    "pose": # Camera 7D pose
    {
      "position": [0.0, 0.0, 0.0] # Camera postion in 3D
      "quaternion": [1.0, 0.0, 0.0, 0.0] # Camerea quaternion in (w,x,y,z) order
    } 
  }
  

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• Returns:

  • List[dict]: Return a list of the grasps information, each grasp dictionary has the following information:

    {
      "grasp_point": # The grasp point in image coordinate
      {
        "u": 0,
        "v": 0, 
      }
      "grasp_pose": # The grasping pose in 3D world
      {
        "position": [0.0, 0.0, 0.0] # grasping postion in 3D
        "quaternion": [1.0, 0.0, 0.0, 0.0] # grasping quaternion in (w,x,y,z) order
      }
      "grasp_info": 
      {
        #Additional grasp information
      } 
    }    
    

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