pulseapi-integration 0.1.3

Wrapper around pulseapi

Wrapper around RobotPulse version >= 1.6.0

Latest PulseApi version: pip3 install pulse-api -i https://pip.rozum.com/simple

Connect to robot:

            from pulseapi_integration import *
            host = '127.0.0.0:8081'
            robot = NewRobotPulse(host)

New function:

set_reference_frame(robot_position)

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

            robot.set_reference_frame(position([x,y,z],[r,p,w]))

get_reference_frame()

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

            robot.get_reference_frame()

            >>> {'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)

untwist()

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

            robot.untwist()

            >>> <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_by_digital_input(number_of_input)

Stop the robot from the Digital Input

            number_of_DI = 1
            robot.stop_by_digital_input(number_of_DI)

- 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)

get_position_rel_base()

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

            robot.get_position_rel_base()

            >>> {'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]

            robot.go_home()