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Wrapper around pulseapi

Project description

Wrapper around RobotPulse version >= 1.6.0

Latest PulseApi version: pip3 install pulse-api -i

Connect to robot:

            from pulseapi_integration import *
            host = ''
            robot = NewRobotPulse(host)

New function:


Set reference frame in the respect to the robot base, further robot works relative it.



Return a dict with keys 'point' and 'rotation'


            >>> {'point': {'x': 0.0, 'y': 0.0, 'z': 0.0},
                 'rotation': {'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0}}

- run_positions( target_positions, speed=None, velocity=None, acceleration=None, tcp_max_velocity=None, motion_type=MT_JOINT )

Starts the list of points recalculated relative to the reference coordinate system.

            target_positions = [
                position([x, y, z], [r, p, w]),
                position([x, y, z], [r, p, w])

            robot.run_positions(target_positions, speed=5)

- set_position( target_position, speed=None, velocity=None, acceleration=None, tcp_max_velocity=None, motion_type=MT_JOINT )

Set the robot in the given position. If an reference frame is specified, the robot moves relative to it.

             set_position(position([x, y, z], [r, p, w]), speed=5)


Allows the robot exit from TWISTED state, after the rotors were manually rotated into ~correct place


            >>> <Response [503]>  (if all is OK)

move_along_axis(axis, distance, velocity)

Allows to move along one of each axis: 'x', 'y', 'z', 'roll', 'pitch', 'yaw' at a given distance, at a specified speed

            axis = 'x'
            distance = 0.1
            velocity = 1

            robot.move_along_axis(axis, distance, velocity)


Stop the robot from the Digital Input

            number_of_DI = 1

- sensing( axis, detect_distance, velocity, retract_distance=0.01, retract_velocity=0.3, number_of_input=1 )

Mini case.

            axis = 'x'
            detect_distance = 0.1
            velocity = 1

            robot.sensing(axis, detect_distance, velocity)


Returns the position relative to the base, even if an reference frame is specified.


            >>> {'point': {'x': -0.09161, 'y': -0.2911, 'z': 1.07063},
                 'rotation': {'roll': 3.08421, 'pitch': 0.72008, 'yaw':0.17362}}

- go_home( speed=None, velocity=None, acceleration=None, tcp_max_velocity=None, motion_type=MT_JOINT )

Return the robot on home position pose[0, -90, 0, -90, -90, 0]


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