Sensapex API

Meta-API for Sensapex Manipulators from uMx family.

This is a meta-API for the Sensapex Python API, which is in turn a binding for the underlying C library.

Functionality

• Set relative zero position for one or all axes
• Convenience methods to move signle axes (instead of giving vector for all axis, even if only intending to move one axis)

See `examples` folder for usage of the relative positioning on one or all axes.

Install

1. Clone repo: git clone https://github.com/larsrollik/sensapex-api.git
2. Install package: pip install sensapex-api
3. Install sensapex UM SDK library
   1. Follow method in original repo: umsdk library
   2. or use version of install_lib.sh script (in this repo)
4. Set up a network interface with a static IP address (see here)
   1. IP address: 169.254.100.100, subnet mask: 255.255.0.0
5. Connect manipulator

Dependencies

• sensapex-py package that can be installed from sensapex-py or via pip install sensapex
• umsdk library
• numpy
• pyserial

Contributing

Contributions are very welcome! Please see the contribution guidelines or check out the issues.

License

This software is released under the BSD 3-Clause License.

This code is an abstraction layer on top of the MIT-licensed sensapex-py and the umsdk.

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Version: "0.0.2.dev0"