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torayeff / fanucpy

Python Interface for FANUC robots
Apache License 2.0
109 stars 29 forks source link

Publishing to pypi #2

Closed ZdenekM closed 2 years ago

ZdenekM commented 2 years ago

Good job! I'm just wondering - is there a plan to publish this stuff to PyPI, so one can install it using pip? Thanks.

torayeff commented 2 years ago

Thanks! Today or tomorrow!

ZdenekM commented 2 years ago

Glad to hear that. We will try to use it to integrate Fanuc robots into the framework for AR-based robot programming (check https://github.com/robofit/arcor2 if it is interesting for you).

torayeff commented 2 years ago

@ZdenekM, our group also develops apps for robots. Let me know if you have any suggestions/difficulties with this library. It will be interesting to collaborate and come up with novel industrial applications.

torayeff commented 2 years ago

Package released https://pypi.org/project/fanucpy/

ZdenekM commented 2 years ago

Thanks for releasing it. I got a little bit distracted by some other stuff, but I will get back to working with the Fanuc robot soon. Regarding the functionality of the library, would it be possible to add methods for IK and FK?

I have seen the web of your institute and it looks really interesting. If you would ever need a partner for a project with experience in AR, VR, HRI, UX, etc., we are definitely open to all ideas.

torayeff commented 2 years ago

@ZdenekM, we are working on adding more functionalities. Thank you very much for your interest, and it would be interesting to work and collaborate on a common project.

ZdenekM commented 2 years ago

we are working on adding more functionalities

And is particularly IK/FK (Pos2Joint and Joint2Pos) something you are working on?

torayeff commented 2 years ago

Not custom IK/FK particularly, but more on modularization that will allow adding external IK solvers.

ZdenekM commented 2 years ago

I actually meant making the existing functionality of Pos2Joint and Joint2Pos Karel commands accessible through Python - in order to get IK/FK from the robot.

ZdenekM commented 2 years ago

That would be probably the easiest way to get IK/FK. What do you think? However I have no experience with those commands so far, so maybe I'm missing something important.

torayeff commented 2 years ago

You are right. It should be relatively straightforward. One can easily add those commands to this file https://github.com/torayeff/fanucpy/blob/main/src/fanuc-driver/mappdk_cmd.kl

torayeff commented 2 years ago

Let me think about the interface for integrating any built-in function.

torayeff commented 2 years ago

It seems that POS2JOINT requires extra parameters such as the reference joint angles that represent the robot's position just before moving to the current position. Let me know if you think we can do it in a smarter way.