Inovopy

Introduction

A package that provide a simple python socket based api for controlling inovo robot arms.

Installation

pip install inovopy

Documentation

Usage

see examples

Ros

inovopy provide ros based api to interact with inovo robot arm.

Example

from inovopy.rosbridge import InovoRos

ros = InovoRos("192.168.1.122", "Test")

All fields are sync to the live robot state through RosBridge

class InovoRos(inovopy.util.Loggable):
    # Ros
    ros: roslibpy.Ros

    # Tcp Speed
    tcp_speed_lin: float = 0
    tcp_speed_ang: float = 0

    # Tcp Pose
    tcp_pose_vec: tuple[float, float, float] = (0, 0, 0)
    tcp_pose_quat: tuple[float, float, float, float] = (0, 0, 0, 0)

    # Joint State
    joint_pos: list[float] = []
    joint_vel: list[float] = []
    joint_eff: list[float] = []

    # Power Status
    voltage: float = 0
    current: float = 0
    power_status: str = 0

    # Robot Status
    driver_state: str = ""
    drive_powered: bool = False

    # EStop Status
    estop_active: bool = False
    estop_circuit: bool = False

    # Safe Stop Status
    safe_stop_active: bool = False
    safe_stop_circuit: bool = False

    # Runtime State
    active_blocks: list[str] = []
    current_block_progress: float = 0
    runtime_status: RuntimeState = 0
    variables: list[Variable] = []

    # Arm State
    enable: bool = False
    state: int = 0
    joint_states: list[JointState] = []

APIs:

ros.safe_stop_reset()
ros.estop_reset()
ros.power_on()
ros.robot_enable()

ros.runtime_start()
ros.runtime_pause()
ros.runtime_step()
ros.runtime_continue()
ros.runtime_get_var("a")
ros.runtime_set_var("a", 32)
ros.runtime_stop()
ros.runtime_start("do something")

ros.robot_disable()
ros.power_off()

iva

To enact more precise and dynmaic control of robot, you can use iva, a message framework design to interact with inovo robot arms.

1. Download latest release of iva.isq
2. Import the project to inovo robot psu
3. look for the socket connect block and change the target ip to robot control server's ip address
4. use inovopy.robot.InovoRobot to control the robot

example

from inovopy.robot import InovoRobot
from inovopy.iva import RobotCommand, MotionMode
from inovopy.geometry.transform import Transform


bot = InovoRobot.default_iva("<PSU IP address>", "iva example")

# Get Current
print(bot.get_current_joint())
print(bot.get_current_transform())

# Motion
bot.linear_relative(Transform.from_z(10.0))
bot.joint(bot.get_current_joint().then_j1(10.0))

# Set Motion Parameter
bot.set_param(speed=10.0, accel=50.0, blend_linear=100.0, blend_angular=30.0)

# Digital IO
print(bot.get_io_beckhoff(0))
print(bot.set_io_beckhoff(0, True))

# Sequence
seq = [
    RobotCommand.motion(MotionMode.LINEAR_RELATIVE, Transform.from_z(10.0)),
    RobotCommand.sleep(10),
    RobotCommand.set_parameter(speed=20.0, accel=5.0),
]
bot.sequence(seq)