austin.driver

Functions:

RobotDriver

exception austin.driver.RobotDisconnected[source]

Bases: ConnectionError

class austin.driver.RobotDriver(robot_ip, robot_port, gripper_port, timeout)[source]

Bases: object

activate_gripper()[source]

activate Hand-E gripper

connect()[source]
disconnect_gripper()[source]

disconnect Hand-E gripper

get_joint_angles()[source]

get current joint angles

get_joints() → tuple[source]

Return the robots current joint positions.

Returns:

joints – A tuple of the form (i, j, k, l, m, n) for the robot’s current joins.

get_position() → tuple[source]

Return the robots current position in lab coordinates.

Returns:

pos – A tuple of the form (x, y, z, rx, ry, rz) for the robot’s current position.

get_reply()[source]

Read one line from the socket.

Returns:

response – text until new line

gripper: RobotiqGripper = None
gripper_act_status()[source]

check gripper being actived or not

gripper_cal()[source]

calibrate gripper position

gripper_cls_position()[source]

gripper minimum position

gripper_cur_position()[source]

get gripper current postion

gripper_for: int
gripper_move(gripper_pos=30, gripper_vel=0.5, gripper_frc=0.2)[source]

move gripper to a postion with speed and force in percentage

gripper_opn_position()[source]

gripper maximum position

gripper_port: int = 0
gripper_pos_opn: int
gripper_vel: int
is_connected: bool = False
movej(joints, acc, vel, wait=True)[source]

Description: Moves the robot to the home location.

movel(pos, acc, vel, wait=True)[source]

Description: Moves the robot to the home location.

pickj(pick_goal, acc, vel, gripper_pos_opn, gripper_pos_cls, gripper_vel, gripper_frc, wait=True)[source]

Pick up from first goal position

pickl(pick_goal, acc, vel, gripper_pos_opn, gripper_pos_cls, gripper_vel, gripper_frc, wait=True)[source]

Pick up from first goal position

placej(place_goal, acc, vel, gripper_pos_opn, gripper_pos_cls, gripper_vel, gripper_frc, wait=True)[source]

Place down at second goal position

placel(place_goal, acc, vel, gripper_pos_opn, gripper_pos_cls, gripper_vel, gripper_frc, wait=True)[source]

Place down at second goal position

robot_ip: str = ''
robot_port: int = 0
send_and_receive(command)[source]
ur = None