lebai 0.1.4

Lebai Robot Python SDK

乐白机器人 Python SDK

使用说明

pip install lebai

API文档

提供基于 async/await 的异步 API。

安装依赖（Python 3.7+）：

pip install grpcio asyncio protobuf

示例：

import asyncio
import math

from lebai import LebaiRobot, CartesianPose, JointPose

async def run():
    rb = LebaiRobot("192.168.3.218")

    await rb.start_sys()

    await rb.movej(JointPose(0, -1.2, math.pi/6, 0, math.pi/4, 0), 0, 0, 1, 0)

    base = await rb.get_actual_tcp_pose()
    p2 = CartesianPose(0.1, 0, 0, 0, 0, 0, base=base)
    await rb.movel(p2, 0, 0, 1, 0)

    await rb.stop_sys()

if __name__ == '__main__':
    asyncio.run(run())

安装 Python 和 pip

查看 Python 版本：

python --version

如果 Python 版本小于 3.7：

sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt update
sudo apt install python3.9 python3.9-distutils

Ubunutu 16.04

sudo apt remove python3-pip
sudo python3.9 -m easy_install pip

如果 Python 环境配置有问题：

sudo ln -sf /usr/bin/python3.9 /usr/bin/python3
sudo ln -sf /usr/bin/python3 /usr/bin/python
sudo ln -sf /usr/bin/pip3 /usr/bin/pip
python -m pip install --upgrade pip setuptools wheel

开发人员指南

• https://pip.pypa.io/en/stable/installing/
• [https://packaging.python.org/tutorials/managing-dependencies/]

安装项目依赖

安装依赖：

pip install -r requirements.txt

• https://grpc.io/docs/languages/python/quickstart/
• https://setuptools.readthedocs.io/en/latest/userguide/quickstart.html

运行

GRPC_TRACE=all GRPC_VERBOSITY=debug ./main.py

构建和发布

python -m pip install --user pipenv
python3 -m pip install --user --upgrade setuptools wheel twine
python3 setup.py sdist bdist_wheel
python3 -m twine upload --repository testpypi dist/*

python3 -m twine upload --repository pypi dist/*

从 PyPI 安装

python3 -m pip install --index-url https://test.pypi.org/simple/ --no-deps lebai

pip install lebai