owl_client.client package

Subpackages

• owl_client.client.Interfaces package
  • Subpackages
    • owl_client.client.Interfaces.grpc_client package
      • Submodules
      • owl_client.client.Interfaces.grpc_client.robot_client module
      • owl_client.client.Interfaces.grpc_client.robot_service_pb2 module
      • owl_client.client.Interfaces.grpc_client.robot_service_pb2_grpc module
      • Module contents
    • owl_client.client.Interfaces.socket package
      • Submodules
      • owl_client.client.Interfaces.socket.owl_monitor_socket module
      • Module contents
    • owl_client.client.Interfaces.utils package
      • Submodules
      • owl_client.client.Interfaces.utils.joint module
      • owl_client.client.Interfaces.utils.pose module
      • owl_client.client.Interfaces.utils.program_mode module
      • owl_client.client.Interfaces.utils.robot_mode module
      • owl_client.client.Interfaces.utils.trajectory_mode module
      • Module contents
  • Module contents

Submodules

owl_client.client.robot module

class owl_client.client.robot.OwlClient(host)

Bases: object

Class to act as client interface to interact with OWLRobot over a network(connection) recommended to use ethernet. OWLRobot running a GRPC server with a socket interface that make the robot state data available at 125Hz with no load. This client class initialise a grpc channel stub which can call the OWLRobot GRPC server functions. These GRPC calls are wrapped by this class methods that can be called from OwlClient object. A socket listener is also implemented which listen to OWLRobot state socket interface and update the state data.

change_speed_fraction(speedFraction: float)

Change the speed fraction setting for move.

close()

end_teach_mode()

Call robot server to end TeachMode.

enter_teach_mode()

Call robot server to enter TeachMode.

get_fk(joints: list)

Call robot server to solve forward kinematics request for given joint values.

get_ik(initial_guess: list, pose: list)

Call robot server to solve inverse kinematics request for given inital guess and pose.

get_joint(wait=True) → Joint

Return the current joint values of robot,wait will allow to return latest data recieved from robot.

get_program_mode(wait=False) → int

Return the robot current program execution mode, wait will allow to return latest data recieved from robot.

get_robot_mode(wait=False) → int

Return the robot current operational mode, wait will allow to return latest data recieved from robot.

get_tcp(wait=True) → Pose

Return the current tcp values of robot,wait will allow to return latest data recieved from robot.

is_running() → bool

Return True if robot is available to operate else False.

is_script_running() → bool

Return True if robot is running xml script program else False.

move_abort()

Request robot server to abort the current move.

move_down(z=-0.05, toolSpeed=100)

Request robot server to move in down.

Parameters:

• z (float) – Translate in z direction.

• toolSpeed (float) – Tool speed with which robot need to do move.

move_pause()

Request robot server to pause the current move.

move_process(processWaypoints: list, toolSpeed: float, refrenceAcceleration: float = 0.005, wait=True)

Request robot server to do move process with desired tool speed.

Parameters:

• processWaypoints (list) – Cartesian poses to do a move process.

• toolSpeed (float) – Tool speed with which robot need to do move.

• refrenceAcceleration (float) – Configure the blending radius in move process planning.

• wait (bool) – True will make the move call synchronouse and wait till move is completed.

move_resume()

Request robot server to resume the paused move.

move_to_joint(jointPose: Joint, toolSpeed: float, wait=True, relative=False)

Request robot server to move to goal joint with desired tool speed in joint space.

Parameters:

• joalPose (Joint) – Goal joint robot need to achieve with desired tool speed in radians.

• toolSpeed (float) – Tool speed with which robot need to do move.

• wait (bool) – True will make the move call synchronouse and wait till move is completed.

• relative (bool) – Move relative to current robot joint.

move_to_pose(goalPose: Pose, toolSpeed: float, wait=True, relative=False, moveType=TrajectoryPlanMode.STRAIGHT)

Request robot server to move to goal pose with desired tool speed in cartesian space.

Parameters:

• goalPose (Pose) – Goal pose [x,y,z,rx,ry,rz] robot need to achieve with desired tool speed.

• toolSpeed (float) – Tool speed with which robot need to do move.

• wait (bool) – True will make the move call synchronouse and wait till move is completed.

• relative (bool) – Move relative to current robot pose.

• moveType (int) – Type of move plan need to generate for move.

move_translate(x=0.0, y=0.0, z=0.0, toolSpeed=100)

Request robot server to translate in cartesian space.

Parameters:

• x (float) – Translate in x direction.

• y (float) – Translate in y direction.

• z (float) – Translate in z direction.

• toolSpeed (float) – Tool speed with which robot need to do move.

move_up(z=0.05, toolSpeed=100)

Request robot server to move in up.

Parameters:

• z (float) – Translate in z direction.

• toolSpeed (float) – Tool speed with which robot need to do move.

pause_script()

Pause a running script program

power_down()

Call robot server to power down.

power_on()

Call robot server to power on.

resume_script()

Resume a paused script program

send_script(script: str)

Send a xml script program to robot to run.

set_digital_output(digital_pin: int, digital_status: bool)

Call robot server to set the level of digital output pin in PLC.

set_gravity_vectory(g_vector: list)

Call robot server to set gravity vector [gravity_x, gravity_y , gravity_z].

set_payload(mass: float, cog: float, inertia: list)

Call robot server to set the payload mass (Kgs).

set_payload_cog(cog: float)

Call robot server to set the payload centre of mass (mm) from tool mount.

set_payload_inertia(inertia: list)

Call robot server to set the payload inertia tensor (mm) [ixx , ixy , ixz , iyy , iyz , izz].

set_payload_mass(mass: float)

Call robot server to set the payload mass (Kgs).

set_tcp_transform(transform: list)

Call robot server to set the tcp transform [x(mm),y(mm),z(mm),rx(rad),ry(rad),rz(rad)].

stop_script()

Stop a script program

Module contents