Metadata-Version: 2.1
Name: pulse-api
Version: 1.8.2.dev20200819144009
Summary: Python API for Pulse Robotic Arm with useful utilities
Home-page: https://rozum.com
Author: Rozum Robotics
Author-email: dev@rozum.com
License: Apache License 2.0
Description: 
        # Pulse Robot Python API
        
        <a href="https://www.python.org/">
        <img alt="Python: 3.5 | 3.6 | 3.7 | 3.8" src="https://img.shields.io/badge/python-3.5%20%7C%203.6%20%7C%203.7%20%7C%203.8-blue.svg">
        </a>
        <a href="https://pypi.org/project/pulse-api/"><img alt="pypi.org package" src="https://img.shields.io/pypi/v/pulse-api"></a>
        <a href="https://github.com/python/black"><img alt="Code style: black" src="https://img.shields.io/badge/code%20style-black-000000.svg"></a>
        
        This folder contains `Python` wrapper for the [Pulse Robot](https://rozum.com/robotic-arm/) REST API.
        Tested with Python 3. Compatibility with Python 2 is not guaranteed but the underlying API (called `pdhttp`)
        supports Python 2.
        
        - [Pulse Robot Python API](#pulse-robot-python-api)
          - [Requirements](#requirements)
          - [Installation](#installation)
          - [Software compatibility table](#software-compatibility-table)
            - [Getting started](#getting-started)
              - [Quickstart](#quickstart)
              - [API initialization](#api-initialization)
              - [Motion control](#motion-control)
              - [Freedrive mode](#freedrive-mode)
              - [Controlling accessories and signals](#controlling-accessories-and-signals)
              - [Controlling accessories and signals during trajectory execution](#controlling-accessories-and-signals-during-trajectory-execution)
              - [Tool API](#tool-api)
              - [Base API](#base-api)
              - [Environment API](#environment-api)
              - [Exception handling](#exception-handling)
              - [Versions API](#versions-api)
              - [Documentation and further information](#documentation-and-further-information)
        
        [Documentation and further information](#documentation-and-further-information)
        
        
        ## Requirements
        
        Python 3.5+
        
        ## Installation
        
        To install from the [Python Package Index](https://pypi.org/project/pulse-api/):
        
        `pip3 install pulse-api`
        
        or, for a specific version
        
        `pip3 install pulse-api==v1.v2.v3`
        
        Alternatively, to get the version from our repository, use the following
        command:
        
        `pip3 install pulse-api -i https://pip.rozum.com/simple`  
        
        To install a specific version:
        
        `pip3 install pulse-api==v1.v2.v3 -i https://pip.rozum.com/simple`
        where **v1**, **v2**, and **v3** (e.g., pulse-api==1.4.3) are version numbers as listed below in the compatibility table.
        
        **Note:** To install the underlying API (`pdhttp`), use:
        `pip3 install pdhttp -i https://pip.rozum.com/simple`
        
        ## Software compatibility table
        
        [Changelog](./CHANGELOG.md)
        
        | Pulse Desk UI version | Python API version |
        | --------------------- | ------------------ |
        | 1.4.3                 | 1.4.3              |
        | 1.4.4                 | 1.4.4              |
        | 1.5.0, 1.5.1, 1.5.2   | 1.5.0              |
        | 1.6.0                 | 1.6.0              |
        | 1.7.0                 | 1.7.0, 1.7.1       |
        | 1.8.0                 | 1.8.0, 1.8.1       |
        
        ### Getting started
        
        Examples use the latest version of the library.
        
        #### Quickstart
        
        **WARNING!** Before launching this example, make sure that there are no facilities
        within 0.6 meters around the manipulator.
        
        ```python
        import math
        from pulseapi import RobotPulse, pose, position, PulseApiException, MT_LINEAR
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)  # create an instance of the API wrapper class
        
        # create motion targets
        home_pose = pose([0, -90, 0, -90, -90, 0])
        start_pose = pose([0, -90, 90, -90, -90, 0])
        pose_targets = [
            pose([10, -90, 90, -90, -90, 0]),
            pose([10, -90, 0, -90, -90, 0]),
        ]
        position_target = position([-0.42, -0.12, 0.35], [math.pi, 0, 0])
        position_targets = [
            position([-0.37, -0.12, 0.35], [math.pi, 0, 0]),
            position([-0.42, -0.12, 0.35], [math.pi, 0, 0]),
            position([-0.42, -0.17, 0.35], [math.pi, 0, 0]),
            position([-0.37, -0.17, 0.35], [math.pi, 0, 0]),
        ]
        
        # set the desired speed (controls both motor velocity and acceleration)
        SPEED = 30
        # set the desired motor velocity
        VELOCITY = 40
        # set the desired motor acceleration
        ACCELERATION = 50
        # set the desired tcp velocity
        TCP_VELOCITY_1CM = 0.01
        TCP_VELOCITY_10CM = 0.1
        
        while True:
            try:
                robot.set_pose(home_pose, speed=SPEED)
                # checks every 0.1 s whether the motion is finished
                robot.await_stop()
        
                robot.set_pose(start_pose, velocity=VELOCITY, acceleration=ACCELERATION)
                robot.await_stop()
        
                robot.set_position(
                    position_target, velocity=VELOCITY, acceleration=ACCELERATION
                )
                robot.await_stop()
        
                # command the robot to go through multiple position waypoints
                # (execute a trajectory)
                robot.run_positions(position_targets, SPEED)
                robot.await_stop()
        
                # set the linear motion type
                robot.run_positions(
                    position_targets,
                    velocity=VELOCITY,
                    acceleration=ACCELERATION,
                    motion_type=MT_LINEAR,
                )
                robot.await_stop()
        
                # limit the TCP velocity not to exceed 0.01 m/s (1 cm/s)
                robot.run_positions(
                    position_targets,
                    tcp_max_velocity=TCP_VELOCITY_1CM,
                    motion_type=MT_LINEAR,
                )
                # checks every 0.5 s whether the motion is finished
                robot.await_stop(0.5)
        
                # limit the TCP velocity not to exceed 0.1 m/s (10 cm/s)
                robot.run_poses(pose_targets, tcp_max_velocity=TCP_VELOCITY_1CM)
        
            except PulseApiException as e:
                # handle possible errors
                print("Exception {} while calling robot at {} ".format(e, robot.host))
                break
        
        ```
        
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### API initialization
        
        ```python
        from pulseapi import RobotPulse
        # create an instance of the API wrapper class
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)
        ```
        
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### Motion control
        
        Possible motion targets:
        
        * 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 target.
        * Poses (`set_pose`, `run_poses` and `get_pose` methods) - to control motor angles.
        Use the `pose` helper function to create a motion target.
        * 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.
        
        Possible motion types:
        
        * Joint (`MT_JOINT`, default)
        * Linear (`MT_LINEAR`)
        
        Auxiliary methods:
        
        * `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.
        
        **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.
        
        ```python
        import math
        import time
        from pulseapi import position, pose, RobotPulse, MT_LINEAR, SystemState, jog
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)
        
        # create motion targets
        pose_target = pose([0, -90, 90, -90, -90, 0])
        position_target = position([-0.42, -0.12, 0.35], [math.pi, 0, 0])
        position_targets = [
            position([-0.37, -0.12, 0.35], [math.pi, 0, 0]),
            position([-0.42, -0.12, 0.35], [math.pi, 0, 0]),
            position([-0.42, -0.17, 0.35], [math.pi, 0, 0]),
            position([-0.37, -0.17, 0.35], [math.pi, 0, 0]),
        ]
        SPEED = 30  # set the desired speed
        TCP_VELOCITY_1CM = 0.01
        
        
        # use the status command as shown below
        def my_await_stop(robot_instance, asking_interval=0.1):
            status = robot_instance.status()
            while status.state == SystemState.MOTION:
                time.sleep(asking_interval)
                status = robot_instance.status()
        
        
        robot.set_pose(pose_target, SPEED)
        robot.await_stop()  # checks every 0.1 s whether the motion is finished
        print("Current pose:\n{}".format(robot.get_pose()))
        
        robot.set_position(position_target, SPEED)
        robot.await_stop(0.5)  # checks every 0.5 s whether the motion is finished
        print("Current position:\n{}".format(robot.get_position()))
        
        # command the robot to go through multiple position waypoints
        # (execute a trajectory)
        robot.run_positions(position_targets, SPEED)
        my_await_stop(robot)
        
        # set the linear motion type
        robot.run_positions(position_targets, SPEED, motion_type=MT_LINEAR)
        robot.await_stop()
        
        # limit the TCP velocity not to exceed 0.01 m/s (1 cm/s)
        robot.run_positions(
            position_targets, tcp_max_velocity=TCP_VELOCITY_1CM, motion_type=MT_LINEAR
        )
        robot.await_stop()
        
        # stop the arm in the last position
        robot.freeze()
        
        # get status from motors
        print(robot.status_motors())
        
        # jogging example
        # command the robot to execute preparatory motion targets
        robot.set_pose(pose([0, -90, 0, -90, -90, 0]), SPEED)
        robot.set_position(position([-0.45, -0, 0.33], [math.pi, 0, 0]), SPEED)
        robot.await_stop()
        # start the jogging mode and execute motion targets
        robot.jogging(jog(x=-1, y=-1))
        time.sleep(2)
        robot.jogging(jog(x=1, y=1))
        time.sleep(7)
        robot.jogging(jog(rx=1, rz=-1))
        time.sleep(5)
        robot.jogging(jog(-0.1, -0.8, 0.1, 0, -1, 0.7))
        time.sleep(5)
        # disable the jogging mode
        robot.jogging(jog())
        
        ```
        
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### Freedrive mode
        
        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".
        
        ```python
        from pulseapi import RobotPulse
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)
        
        # enter freedrive mode
        robot.zg_on()
        
        # additional logic goes here
        
        # disable freedrive mode
        robot.zg_off()
        
        ```
        
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### Controlling accessories and signals
        
        Available methods:
        
        * `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.
        
        Signals:
        
        * SIG_LOW - port is inactive
        * SIG_HIGH - port is active
        
        ```python
        from pulseapi import RobotPulse, SIG_LOW, SIG_HIGH
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)
        
        # ask the robot to close the gripper and continue execution of
        # commands after 500 ms
        robot.close_gripper()
        
        # ask the robot to open the gripper and begin to execute further
        # commands after 100 ms
        robot.open_gripper(100)
        
        # set the first output port to the active state
        robot.set_digital_output_high(1)
        
        # execute required operations when input port 3 is active
        if robot.get_digital_input(3) == SIG_HIGH:
            print("Input port 3 is active")
        # execute required operations when input port 1 is inactive
        if robot.get_digital_input(1) == SIG_LOW:
            print("Input port 1 is inactive")
        
        # execute stop() command if input singnal is HIGH on input port 4
        robot.bind_stop(4, SIG_HIGH)
        
        ```
        
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### Controlling accessories and signals during trajectory execution
        
        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.
        
        ```python
        from pulseapi import (
            RobotPulse, 
            SIG_LOW, 
            SIG_HIGH, 
            output_action, 
            position,
            open_gripper_action,
            close_gripper_action,
        )
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)
        
        # create motion targets with actions
        
        # ask the robot to set output signal to SIG_LOW value on port 1
        # when it reaches the specified pose
        pose_target = pose([0, -90, 90, -90, -90, 0], [output_action(1, SIG_LOW)])
        
        # ask the robot to set output signal to SIG_HIGH value on port 1
        # when it reaches the specified position
        position_target = position(
            [-0.42, -0.12, 0.35], [math.pi, 0, 0], [output_action(1, SIG_HIGH)]
        )
        
        position_targets = [
            # ask the robot to open gripper at the specified position
            position([-0.37, -0.12, 0.35], [math.pi, 0, 0], [close_gripper_action()]),
            position([-0.42, -0.12, 0.35], [math.pi, 0, 0]),
            position([-0.42, -0.17, 0.35], [math.pi, 0, 0]),
            # ask the robot to close gripper at the specified position and 
            # to set output signal to SIG_LOW value on port 1 at the specified position 
            position([-0.37, -0.17, 0.35], [math.pi, 0, 0], [
                open_gripper_action(),
                output_action(1, SIG_LOW),
            ]),
        ]
        SPEED = 30  # set the desired speed
        
        robot.set_pose(pose_target, SPEED)
        robot.await_stop()
        
        robot.set_position(position_target, SPEED)
        robot.await_stop()
        
        robot.run_positions(position_targets, SPEED)
        robot.await_stop()
        ```
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### Tool API
        
        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.
        
        Available methods:
        
        * `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.
        
        Helper functions:
        
        * `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.
        
        ```python
        from pulseapi import RobotPulse, position, Point
        from pulseapi import create_simple_capsule_obstacle, tool_shape, tool_info
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)
        
        # get info about the current tool
        current_tool_info = robot.get_tool_info()
        current_tool_shape = robot.get_tool_shape()
        print("Current tool info\n{}".format(current_tool_info))
        print("Current tool shape\n{}".format(current_tool_shape))
        
        # create new tool properties
        new_tool_info = tool_info(position([0, 0, 0.07], [0, 0, 0]), name="CupHolder")
        new_tool_shape = tool_shape(
            [create_simple_capsule_obstacle(0.03, Point(0, 0, 0), Point(0, 0, 0.07))]
        )
        
        # change tool properties
        robot.change_tool_info(new_tool_info)
        robot.change_tool_shape(new_tool_shape)
        print("New tool info\n{}".format(robot.get_tool_info()))
        print("New tool shape\n{}".format(robot.get_tool_shape()))
        
        ```
        
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### Base API
        
        Use the Base API methods when you need to calculate a robot motion trajectory
        relative to a specific point in space.
        
        Available methods:
        
        * `change_base`
        * `get_base`
        
        ```python
        from pulseapi import RobotPulse, position
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)
        
        current_base = robot.get_base()
        print("Current base\n{}".format(current_base))
        
        # move the new base point along x and y axes
        new_base = position([0.05, 0.05, 0], [0, 0, 0])
        robot.change_base(new_base)
        
        print("New base\n{}".format(robot.get_base()))
        
        ```
        
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### Environment API
        
        Use the Environment API to add virtual obstacles to be taken into account when calculating collisions.
        
        Available methods:
        
        * `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.
        
        Helper functions:
        
        * `create_box_obstacle`
        * `create_capsule_obstacle`
        * `create_plane_obstacle`
        
        ```python
        from pulseapi import RobotPulse, Point, position
        from pulseapi import (
            create_plane_obstacle,
            create_box_obstacle,
            create_capsule_obstacle,
        )
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)
        
        print("Current environment\n{}".format(robot.get_all_from_environment()))
        # add obstacles to the environment for calculating collisions
        box = create_box_obstacle(
            Point(0.1, 0.1, 0.1), position((1, 1, 1), (0, 0, 0)), "example_box"
        )
        capsule = create_capsule_obstacle(
            0.1, Point(0.5, 0.5, 0.2), Point(0.5, 0.5, 0.5), "example_capsule"
        )
        plane = create_plane_obstacle(
            [Point(-0.5, 0.4, 0), Point(-0.5, 0, 0), Point(-0.5, 0, 0.1)],
            "example_plane",
        )
        robot.add_to_environment(box)
        robot.add_to_environment(capsule)
        robot.add_to_environment(plane)
        print("New environment\n{}".format(robot.get_all_from_environment()))
        print(
            "Get example box\n{}".format(robot.get_from_environment_by_name(box.name))
        )
        # remove specific obstacles
        robot.remove_from_environment_by_name(box.name)
        print("Environment without box\n{}".format(robot.get_all_from_environment()))
        # remove all obstacles from an environment
        robot.remove_all_from_environment()
        print("Empty environment\n{}".format(robot.get_all_from_environment()))
        
        ```
        
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### Exception handling
        
        For information about errors, see the [API reference](https://rozum.com/tpl/pdf/ARM/PULSE%20ROBOT_API%20REFERENCE%20GUIDE_v.6.pdf).
        The client wraps errors from the robot into `PulseApiException`.
        
        Available methods:
        
        * `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.
        
        For example, we can trigger an API exception by sending `pose` into `set_position`
        method.
        
        ```python
        from pulseapi import RobotPulse, PulseApiException, pose, SystemState
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)
        
        try:
            robot.set_position(pose([0, -90, 90, -90, -90, 0]), 10)
            robot.await_stop()
        except PulseApiException as e:
            print("Exception {}while calling robot at {} ".format(e, robot.host))
            status = robot.status()
            failure = robot.status_failure()
            if status == SystemState.EMERGENCY:
                print("Robot in emergency. Error message: {}".format(failure))
        
        ```
        
        If the robotic arm went into "EMERGENCY" state, you can attemt to "recover" the
        arm in order to continue operations execution:
        
        ```python
        from pulseapi import RobotPulse, PulseApiException, pose, SystemState
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        robot = RobotPulse(host)
        
        recover_result = robot.recover()
        print("Recover result: {}".format(recover_result))
        
        ```
        
        
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### Versions API
        
        Use the Version API methods to get information about the software and hardware versions.
        You may need to use the methods for contacting support specialists when you notice
        strange robot behaviour.
        
        Available methods:
        
        * `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.
        
        ```python
        from pulseapi import Versions
        
        host = "http://127.0.0.1:8081"  # replace with a valid robot address
        versions = Versions(host)
        
        print(versions.hardware())
        print(versions.software())
        print(versions.robot_software())
        
        ```
        
        [Back to the table of contents](#pulse-robot-python-api)
        
        #### Documentation and further information
        
        For further details, see the
        [API reference guide](https://rozum.com/documentation/robotic-arm/pulse-75/rest-api-reference-guide/).
        
Platform: UNKNOWN
Classifier: License :: OSI Approved :: Apache Software License
Classifier: Development Status :: 4 - Beta
Classifier: Programming Language :: Python
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: Implementation :: CPython
Description-Content-Type: text/markdown
