@wandelbots/wandelbots-python

This library provides a wrapper around the Wandelbots API. Under the hood it queries the API endpoints directly, not using wandelbots_api_client (which is still required as dependencies since the auto-generated types are used from the package for type-checking convenience).

The wrapper is meant to ease the interaction with the Wandelbots API by providing a simpler interface for initializing a MotionGroup and interacting with it. For the full feature set of our API please refer to the official documentation and use the wandelbots_api_client package directly.

You can try the features of this library in a Jupyter notebook by clicking the Binder badge above. Create a new Instance by registering on the Wandelbots website and use the credentials to interact with the API.

Current Features:

• Sync and Async Planning and Execution
• Pose Transformations

Table Of Contents

• Requirements
• Build
• Basic Usage
• Testing

Requirements

This library requires

• Python >=3.9

Installation

To use the library, first install it using the following command

pip install wandelbots

Then import the library in your code

from wandelbots import Instance, MotionGroup, Planner

Development

To install the development dependencies, run the following command

poetry install

To remove an old virtual environment and create a new one, first get the name of the old environment by running

poetry env info

Then remove the old environment and create a new one with the following commands

poetry env remove <name-of-env>
poetry install

Run the poetry shell to activate the virtual environment

poetry shell

Build

To build the package locally, run the following command

poetry build

This will create a dist/ directory with the built package (.tar.gz and .whl files).

Installation

pip install dist/wandelbots-python-0.5.0-py3-none-any.whl

Basic Usage

The wrapper provides a simple interface for initializing a Instance, MotionGroup and a Planner object, which can be used to interact with the Wandelbots API:

from wandelbots import Instance, MotionGroup, Planner

my_instance = Instance(
    url=https://<my-instance-url>,
    user=<username>,
    password=<password>
)

my_robot = MotionGroup(
    instance=my_instance,
    cell="cell",
    motion_group="0@motion_group",
    default_tcp="Flange"
)

For further examples take a look at the examples.

Testing

$ poetry run pytest -rs -v

Integration Tests

By default integration tests will be skipped. To run them localy create an env file at envs/.env.tests with your values.

WANDELAPI_BASE_URL=
NOVA_ACCESS_TOKEN=
CELL_ID=
MOTION_GROUP=
TCP=