Metadata-Version: 2.1
Name: pulseapi_integration_rounding_motion
Version: 0.0.2
Summary: Move robot with blends
Home-page: https://github.com/Matskevichivan/Blend
Author: Matskevich
Author-email: matskevichivan98@gmail.com
License: UNKNOWN
Description: ## Rounding motion for robot Pulse by Rozum Robotics
        
        ### Requirements
        Python 3.6+
        
        pulse-api (pip3 install pulse-api -i https://pip.rozum.com/simple)
        
        pulseapi-integration (pip3 install pulseapi-integration)
        
        ### Installation
        To get the latest version, use the following command:
        
        **pip install pulseapi-integration-rounding-motion**
        
        
        ### Getting started
        Examples use the latest version of the library.
        #### Quickstart
        
        ```python
        from math import pi
        from pulseapi_integration import *
        from pulseapi_integration_rounding_motion.rounding_motion import rounding_motion
        
        host = "192.168.1.33:8081"
        robot = NewRobotPulse(host)
        
        SPEED = 20
        
        x = -0.58
        y = -0.20
        z = 0.155
        robot.set_reference_frame(position([x, y, z], [0, 0, 0]))
        
        targets = [
            [position([0.015, 0.072, 0.1], [pi, 0, 0])],
            [position([0.015, 0.08, 0.1], [pi, 0, 0], [output_action(1, SIG_HIGH)])],
            [position([0.015, 0.09, 0.1], [pi, 0, 0])],
            
            [position([0.015, 0.1234, 0.1], [pi, 0, 0]), [0.003]],
            [position([0.0277, 0.1234, 0.1], [pi, 0, 0]), [0.006]],
            [position([0.0277, 0.135, 0.1], [pi, 0, 0]), [0.003]],
        
            [position([0.1300, 0.135, 0.1], [pi, 0, 0]), [0.003]],
            [position([0.1300, 0.1234, 0.1], [pi, 0, 0]), [0.006]],
            [position([0.142, 0.1234, 0.1], [pi, 0, 0]), [0.006]],
            [position([0.1425, 0.1345, 0.1], [pi, 0, 0]), [0.003]],
        
            [position([0.2458, 0.135, 0.1], [pi, 0, 0]), [0.003]],
            [position([0.2458, 0.1234, 0.1], [pi, 0, 0]), [0.006]],
            [position([0.2585, 0.1234, 0.1], [pi, 0, 0]), [0.003]],
        
            [position([0.26, 0.0266, 0.1], [pi, 0, 0]), [0.003]],
            [position([0.2473, 0.0266, 0.1], [pi, 0, 0]), [0.006]],
            [position([0.2483, 0.015, 0.1], [pi, 0, 0]), [0.003]],
        
            [position([0.144, 0.0137, 0.1], [pi, 0, 0]), [0.003]],
            [position([0.144, 0.0261, 0.1], [pi, 0, 0]), [0.006]],
            [position([0.132, 0.0261, 0.1], [pi, 0, 0]), [0.006]],
            [position([0.132, 0.0145, 0.1], [pi, 0, 0]), [0.003]],
        
            [position([0.0287, 0.015, 0.1], [pi, 0, 0]), [0.003]],
            [position([0.0287, 0.0266, 0.1], [pi, 0, 0]), [0.006]],
            [position([0.016, 0.0266, 0.1], [pi, 0, 0]), [0.003]],
        
            [position([0.015, 0.0296, 0.1], [pi, 0, 0])],
            [position([0.015, 0.04, 0.1], [pi, 0, 0], [output_action(1, SIG_LOW)])],
            [position([0.015, 0.08, 0.1], [pi, 0, 0])]
        ]
        
        home_pose = pose([0, -90, 0, -90, -90, 0])
        start_pose = pose([0, -90, 90, -90, -90, 0])
        
        robot.set_pose(home_pose, speed=20)
        robot.set_pose(start_pose, speed=20)
        
        robot.run_positions(rounding_motion(targets), speed=SPEED, motion_type=MT_LINEAR)
        robot.set_pose(start_pose, speed=20)
        ```
        
        #### New function:
        
        ##### _rounding_motion(targets)_
        Return new_target_list with rounding
        
        **_Target parameters:_**
        [position([x, y, z], [r, p, y], [action]), [rounding_radius_in_meters]]
        
        **Important!** 
        A list of points must consist of three or more points.
        
        There should be no rounding radius at the first and last point.
        
        
        
        
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 3
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Requires-Python: >=3.6
Description-Content-Type: text/markdown
