This folder contains Python wrapper for the pulse robot REST api. Tested on Python 3. Compatibility with Python 2 is not guaranteed but this client uses swagger-codegen so it may work for you.

Currently, installation via pip is not supported. So, copy the rozum module into your project root manually.

from pprint import pprint
import rozum as rr
# create an instance of the API wrapper class
host = "127.0.0.1:8080"  # replace with valid robot address 
robot = rr.RestRobot(host)
# create motion targets
pose = rr.Pose([0, 0, 0, 0, 0, 0])
position = rr.Position(rr.Point(-0.33, -0.33, 0.43), rr.Rotation(0, -1.1659, 0))
SPEED = 100
try:
    # execute desired actions
    robot.set_pose(pose, SPEED)
    robot.await_motion()
    robot.set_position(position, SPEED)
    robot.await_motion()
    # get some information
    status_motors = robot.status_motors()
    pprint(status_motors)
except rr.RestApiException as e:
    print("Exception when calling RestRobot %s\n" % e)

Position robot.change_base(position)

Setting a new zero point position

The function enables setting a new zero point position of the robotic arm as required for the current user environment (e.g., considering the surrounding equipment). The new zero point position is described as a set of x, y, and z coordinates, as well as roll, pitch, and yaw rotation angles. The coordinates define the desired offset (in meters) from the physical centerpoint of the arm base (original zero point) along the x, y, and z axes accordingly. Roll stands for the rotation angle around the x axis; pitch - the rotation angle around the y axis; yaw - the rotation angle around the z axis. All rotation angles are in radians and relative to the physical centerpoint of the arm base.

Position

Tool robt.change_tool(tool)

Setting tool properties

The function enables setting new TCP to account for the properties of an attached or changed work tool. The tool properties define the following: - name - any random name of the work tool defined by the user (e.g., "gripper") - position - a set of x, y, and z coordinates and rotation angles - roll, pitch, and yaw. The coordinates define the actual distance (in meters) from the arm's zero point to the new TCP along the x, y, and z axes accordingly. Roll stands for the rotation angle of the new TCP around the x axis; pitch - the rotation angle around the y axis; yaw - the rotation angle of the new TCP around the z axis. All rotation angles are in radians. - radius - radius of the work tool (in meters) measured from its physical center point.

Tool

robot.close_gripper(timeout=timeout)

Asking the arm to close the gripper

The function commands the robot to close the gripper. It has no request body, but the user can optionally set how long (in milliseconds) the arm should remain idle, waiting for the gripper to close. The default manufacturer-preset value is 500 ms. ### Note: Setting the parameter, it is recommended to use values above 0 ms.

None

robot.freeze()

Asking the arm to go to the freeze state

The function 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.

This endpoint does not need any parameter.

None

Position robot.get_base()

Getting the actual position of the arm base

The function returns the actual position of the arm's zero point in the user environment. The actual zero point position is described as a set of x, y, and z coordinates, as well as roll, pitch, and yaw rotation angles. The coordinates define the offset (in meters) from the physical centerpoint of the arm base (original zero point) to the actual zero point position along the x, y, and z axes accordingly. Roll stands for the rotation angle around the x axis; pitch - the rotation angle around the y axis; yaw - the rotation angle around the z axis. All rotation angles are in radians and relative to the physical centerpoint of the arm base.

This endpoint does not need any parameter.

Position

Signal robot.get_digital_output(port)

Get level of digital output signal

The function returns the actual signal level on the digital output specified in the Port parameter. A digital output is a physical port on the back panel of the control box that controls the robotic arm.

Signal

Pose robot.get_pose()

Getting the actual arm pose

The function returns the actual pose of the robotic arm. The pose is described as a set of output flange angles (in degrees) of all the six servos in the arm joints.

This endpoint does not need any parameter.

Pose

Position robot.get_position()

Getting the actual arm position

The function returns the actual position of the PULSE robotic arm, which is described as a set of x, y, and z coordinates, as well as roll, pitch, and yaw rotation angles. The coordinates define the actual distance (in meters) from the zero point of the robotic arm to the tool center point (TCP) along the x, y, and z axes accordingly. Roll stands for the TCP rotation angle around the x axis; pitch - the TCP rotation angle around the y axis; yaw - the TCP rotation angle around the z axis. All rotation angles are in radians and relative to the zero point.

This endpoint does not need any parameter.

Position

Tool robot.get_tool()

Getting actual tool properties

The function returns the actual TCP position that accounts for the offset from the original TCP due to attaching/changing the work tool. The actual TCP position is described as a set of the following properties: - name - any random name of the work tool defined by the user (e.g., "gripper") - position - x, y, and z coordinates, as well as roll, pitch, and yaw rotation angles. The coordinates define the distance (in meters) from the arm's zero point to the actual TCP along the x, y, and z axes accordingly. Roll stands for the actual TCP rotation angle around the x axis; pitch - the actual TCP rotation angle around the y axis; yaw - the actual TCP rotation angle around the z axis. All rotation angles are in radians. - radius - radius of the work tool (in meters) measured from its center point.

This endpoint does not need any parameter.

Tool

str robot.identifier()

Getting the arm ID

The function returns the unique identifier (ID) of the robotic arm. The ID is an alphanumeric designation that consists of individual servo motor identifications.

This endpoint does not need any parameter.

str

robot.open_gripper(timeout=timeout)

Asking the arm to open the gripper

The function commands the robot to open the gripper. It has no request body, but the user can optionally set how long (in milliseconds) the arm should remain idle, waiting for the gripper to open. The default manufacturer-preset value is 500 ms. ### Note: Setting the parameter, it is recommended to use values above 0 ms.

None

robot.relax()

Asking the arm to relax

The function 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).

This endpoint does not need any parameter.

None

str robot.run_poses(poses, speed, type=type)

Asking the arm to move to a pose

The function allows for setting a trajectory of one or more waypoints to move the robotic arm smoothly from one pose to another. In the trajectory, each waypoint is a set of output flange angles (in degrees) of the six servos in the arm joints. Two motion types supported: linear and joint. Default: joint ### Note: Similarly, you can move the arm from one pose to another through one or more waypoints using the PUT/pose function. When the arm is executing a trajectory of PUT/pose waypoints, it stops for a short moment at each preset waypoint. With the PUT/poses/run function, however, the arm moves smoothly though all waypoints without stopping, which reduces the overall time of going from one pose to another.

str

str robot.run_positions(positions, speed, type=type)

Asking the arm to move to a position

The function allows for setting a trajectory of one or more waypoints to move the robotic arm smoothly from one position to another. Two motion types supported: linear and joint. Default: joint In the trajectory, each waypoint is described as a set of x, y, and z coordinates, as well as roll, pitch, and yaw rotation angles. The coordinates define the distance (in meters) from the zero point to the desired TCP along the x, y, and z axes accordingly. Roll stands for the desired TCP rotation angle around the x axis; pitch - the desired TCP rotation angle around the y axis; yaw - the desired TCP rotation angle around the z axis. All rotation angles are in radians.

str

str robot.set_digital_output_high(port)

Set high level of digital output signal

The function sets the digital output specified in the Port parameter to the HIGH signal level. A digital output is a physical port on the back panel of the control box that controls the robotic arm.

str

str set_digital_output_low(port)

Set low level of digital output signal

The function sets the digital output specified in the Port parameter to the LOW signal level. A digital output is a physical port on the back panel of the control box that controls the robotic arm.

str

str robot.set_pose(pose, speed, type=type)

Setting a new arm pose

The function commands the arm to move to a new pose. A pose is described as a set of output flange angles (in degrees) of the six servos integrated into the robot joints.

str

str robot.set_position(position, speed)

Setting a new arm position

The function commands the arm to move to a new position. The position is described as a set of x, y, and z coordinates, as well as roll, pitch, and yaw rotation angles. The coordinates define the desired distance (in meters) from the zero point to the TCP along the x, y, and z axes accordingly. Roll stands for the desired TCP rotation angle around the x axis; pitch - the desired TCP rotation angle around the y axis; yaw - the desired TCP rotation angle around the z axis. All rotation angles are in radians.

str

MotionStatus robot.status_motion()

Getting the actual motion status

The function returns the actual state of the robotic arm - whether it is running (in motion), or idle (not in motion), or in the zero gravity mode.

This endpoint does not need any parameter.

MotionStatus

list[MotorStatus] robot.status_motors()

Getting the actual status of servo motors

The function returns the actual states of the six servo motors integrated into the joints of the robotic arm. The states are described as arrays of values for the following properties: - Angle - the actual angular position (in degrees) of the servo's output flange - Rotor velocity - the actual rotor velocity (in RPM) - RMS current - the actual input current (in Amperes) - Phase current - the actual magnitude of alternating current (in Amperes) - Supply voltage - the actual supply voltage (in Volts) - Stator temperature - the actual temperature (in degrees C) as measured on the stator winding - Servo temperature - the actual temperature (in degrees C) as measured on the MCU PCB - Velocity setpoint - the user-preset rotor velocity (in RPM) - Velocity output - the motor control current (in Amperes) based on the preset velocity - Velocity feedback - the actual rotor velocity (in RPM) - Velocity error - the difference between the preset and the actual rotor velocities (in RPM) - Position setpoint - the user-preset position of the servo flange in degrees - Position output - rotor velocity (in RPM) based on the position setpoint - Position feedback - the actual position of the servo flange (in degrees) based on the encoder feedback - Position error - the difference (in degrees) between the preset and the actual positions of the servo flange Each property in an array has six values - one for each of the six servos in the arm joints.

This endpoint does not need any parameter.

[list[MotorStatus]]