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https://github.com/larsrollik/sensapex-api

Meta-API for Sensapex Manipulators from uMx family.
https://github.com/larsrollik/sensapex-api

api api-interface manipulator python sensapex umx

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Meta-API for Sensapex Manipulators from uMx family.

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[manifest]: https://packaging.python.org/en/latest/guides/using-manifest-in

[packaging]: https://packaging.python.org/en/latest/tutorials/packaging-projects

[setup.cfg]: https://setuptools.pypa.io/en/latest/userguide/declarative_config.html



[bump2version]: (https://github.com/c4urself/bump2version

[pre-commit]: https://pre-commit.com

[black]: https://github.com/psf/black



[pypi]: pypi.org

[test.pypi]: test.pypi.org



[Zenodo]: https://zenodo.org



[contribution guidelines]: https://github.com/larsrollik/sensapex-api/blob/main/CONTRIBUTING.md

[issues]: https://github.com/larsrollik/sensapex-api/issues

[BSD 3-Clause License]: https://github.com/larsrollik/sensapex-api/blob/main/LICENSE



[umsdk]: https://github.com/sensapex/umsdk

[sensapex-py]: https://github.com/sensapex/sensapex-py



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# 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](https://www.sensapex.com/files/uploads/2020/09/PC-Connection-Quick-Guide-v10-1.pdf))

   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].



---

**Version: "0.0.2.dev0"**