Wrapper around pulseapi
Project description
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()
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