python_api_mechanism.md

Python API mechanism

Table Of Contents

• Overview
• Blocking-method

Overview

The Python Kortex API offers one mechanism to call a method: a standard blocking method.

Blocking method

The blocking method (blocking call) is relatively straightforward. The function is called, and the process waits until an answer is received from the server side.

# RouterClientSendOptions is optional and needs to be passed with the keyword
# options
router_options = RouterClientSendOptions()
router_options.timeout_ms = 5000 # 5 seconds

# The same function call without the options=router_options is valid and will do the same
# using the router default value
all_speed_hard_limits = base.GetAllJointsSpeedHardLimitation()

for speed_limit in all_speed_hard_limits.joints_limitations:
	print("============================================")
	print("Joint: {0}".format(speed_limit.joint_identifier))
	print("Type of limitation: {0}".format(Base_pb2.LimitationType.Name(speed_limit.type)))
	print("Value: {0}".format(speed_limit.value))
	print("============================================")