pulse-api | Python REST API Client for Pulse Robotic Arm | Robotics library

To install from the Python Package Index:. or, for a specific version.
Examples use the latest version of the library. WARNING! Before launching this example, make sure that there are no facilities within 0.6 meters around the manipulator. WARNING! The following example is sample code. Before running, you must replace reference motion targets in the sample with the ones applicable to your specific case. Before launching this example, make sure that manipulator would not cause any damage to your facilities. The following example demonstrates usage of the run_linear_positions and run_linear_poses methods. Note: the arm must be in the first position (pose) of the trajectory before usage. Freedrive ("Zero-gravity") mode is intended to be used when there is a need to control the robotic arm directly "by-hand". With this functionality, for example, the user can develop an application that remembers user defined path. After mode activation, you can press and hold specific button that is described in user manual and move the robotic arm "by-hand". Use output_action(), open_gripper_action(), close_gripper_action() functions combined with pose() and position() helper functions to control gripper/output signals during trajectory execution. Note: actions are performed asynchronously. Use the Tool API methods when you need to calculate a robot motion trajectory with regard to the used tool and to take the tool into account when the robot calculates collisions. Use the Base API methods when you need to calculate a robot motion trajectory relative to a specific point in space. Use the Environment API to add virtual obstacles to be taken into account when calculating collisions. For information about errors, see the API reference. The client wraps errors from the robot into PulseApiException. For example, we can trigger an API exception by sending pose into set_position method.
Positions (run_linear_positions, set_position, run_positions and get_position methods) - to control the location of the robot's TCP (tool center point). Use the position helper function to create a motion targets.
Poses (run_linear_poses, set_pose, run_poses and get_pose methods) - to control motor angles. Use the pose helper function to create a motion targets.
Jogging (jogging method) - enter the 'jogging' mode. If the robotic arm already in the 'jogging' mode, use this method to control the direction of the movement. Use jog helper function to create motion target. The motion target has six components ('x', 'y', 'z', 'rx', 'ry', 'rz'). Components are optional with default value equal to 0. Components control accelerations along the corresponding axis relative to the base coordinate system of the robotic arm. To disable the mode, pass jog motion target, where all components are zeros.
Joint (MT_JOINT, default)
Linear (MT_LINEAR)
await_motion - periodically requests robot status (default: every 0.1 s) and waits until the robot finishes movements. Deprecated, use await_stop
await_stop - periodically requests robot status (default: every 0.1 s) and waits until the robot finishes movements.
status_motion - returns the actual state of the robotic arm: running (arm in motion), idle (arm not in motion), in the zero gravity mode, or in error state. Deprecated, use status
status - returns the actual state of the robotic arm - whether it is initializing, or twisted, or running (in motion), or active (not in motion), or in the zero gravity mode, or failed (broken, failed initializing or in emergency).
freeze - sets the arm in the "freeze" state. The arm stops moving, retaining its last position. Note: In the state, it is not advisable to move the arm by hand as this can cause damage to its components.
relax - sets the arm in the "relaxed" state. The arm stops moving without retaining its last position. In this state, the user can move the robotic arm by hand (e.g., to verify/test a motion trajectory).
pack - asking the arm to reach a compact pose for transportation.
status_motors - returns the actual states of the six servo motors integrated into the joints of the robotic arm.
stop - sets the arm in the Protection mode. The arm stops moving, retaining its last position and is disabled for command execution until recover is called.
close_gripper, open_gripper with a preset timeout before executing further commands (default: 500 ms). Supported grippers: Schunk and OnRobot.
disable_gripper and enable_gripper. Use this methods to disable (enable) power supply on wrist for gripper so that you can safely unplug and change gripper without powering off the robotic arm
set_digital_output_high set_digital_output_low, get_digital_output - to work with output ports on the controlbox.
get_digital_input to work with input ports on the controlbox.
bind_stop binds stop command to high or low input signal on a specific port.
SIG_LOW - port is inactive
SIG_HIGH - port is active
change_tool_info - set tool info for trajectory calculations.
change_tool_shape - set tool shape for collision validation.
get_tool_info, get_tool_shape - receive information about current tool settings.
tool_info - creates a tool info instance to be passed into change_tool_info method.
tool_shape - creates a tool shape instance to be passed into change_tool_shape method.
change_base
get_base
add_to_environment - adds an obstacle to an environment. Use the helper functions below to describe obstacles.
get_all_from_environment - returns all obstacles from an environment.
get_from_environment_by_name - returns an obstacle with a specific name from an environment.
remove_all_from_environment - removes all obstacles from an environment.
remove_from_environment_by_name - removes an obstacle with a specific name from an environment.
create_box_obstacle
create_capsule_obstacle
create_plane_obstacle
recover - the function recovers the arm after an emergency, setting its motion status to IDLE. Recovery is possible only after an emergency that is not fatal (corresponds to the ERROR status).
status_failure - the method returns complete list of recent failures. Each list entry could contain failure message, type, level and datetime. This information could be used for error handling or incident investigation.
hardware - returns the hardware versions for all motors, the USB-CAN dongle, safety board and wrist.
software - returns the software version for all motors, the USB-CAN dongle, safety board and wrist.
robot_software - returns the version of the robot control software.