Merge branch 'main' of https://github.com/underautomation/Staubli.py

Author: Rufus31415

README.md

@@ -1 +1,225 @@
-# Staubli.py
+# Staubli Communication SDK for Python
+
+[![UnderAutomation Staubli communication SDK](https://raw.githubusercontent.com/underautomation/Staubli.NET/refs/heads/main/.github/assets/banner.png)](https://underautomation.com)
+
+[![PyPI](https://img.shields.io/pypi/dm/UnderAutomation.Staubli?label=PyPI%20Downloads&logo=pypi)](https://pypi.org/project/UnderAutomation.Staubli/)
+[![Python](https://img.shields.io/badge/Python-3.7+-blue)](#)
+[![SOAP](https://img.shields.io/badge/Protocol-SOAP-orange)](#)
+[![Platforms](https://img.shields.io/badge/OS-Windows%20%7C%20Linux%20%7C%20macOS-informational)](#)
+
+### 🤖 Effortlessly Communicate with Staubli Robots from Python
+
+The **Staubli Communication SDK for Python** wraps the native Staubli SOAP stack and exposes a clean, Pythonic API for automation engineers, researchers, and integrators. Use it to supervise industrial robots, orchestrate motion, exchange I/O, and manage VAL 3 applications—all without requiring additional Staubli software licenses.
+
+🔗 **More Information:** [Documentation](https://underautomation.com/Staubli/documentation/get-started-python)  
+🔗 Available also for **[🟣 .NET](https://github.com/underautomation/Staubli.NET)** & **[🟨 LabVIEW](https://github.com/underautomation/Staubli.vi)**
+
+---
+
+## 🚀 TL;DR
+
+✅ Install the SDK with `pip install UnderAutomation.Staubli`.  
+✅ Connect to Staubli controllers via the native SOAP protocol.  
+✅ Control motion, read/write I/O, monitor robots, and manage applications directly from Python.
+
+**Highlights:**
+
+- ⚡ Real-time SOAP communication through the embedded `UnderAutomation.Staubli.dll`
+- 🐍 Pythonic wrappers for controllers, parameters, and data objects
+- 🔁 Full motion lifecycle & kinematics helpers
+- 📡 Access to physical & logical I/Os
+- 📦 VAL 3 project and task management
+
+---
+
+## 📦 Installation
+
+```bash
+pip install UnderAutomation.Staubli
+```
+
+The package bundles the required .NET assemblies and depends on [`pythonnet`](https://github.com/pythonnet/pythonnet) to bridge Python and .NET. Make sure the target machine has a compatible .NET runtime installed.
+
+---
+
+## ✨ Features
+
+### 🔌 Connect to Your Controller
+
+```python
+from underautomation.staubli.staubli_controller import StaubliController
+from underautomation.staubli.connection_parameters import ConnectionParameters
+
+controller = StaubliController()
+parameters = ConnectionParameters("192.168.0.1")
+
+parameters.soap.enable = True
+parameters.soap.user = "default"
+parameters.soap.password = "default"
+
+controller.connect(parameters)
+```
+
+![UnderAutomation Staubli communication SDK](https://raw.githubusercontent.com/underautomation/Staubli.NET/refs/heads/main/.github/assets/Connect.jpg)
+
+---
+
+### 🔍 Explore System Information
+
+- List robots: `controller.soap.get_robots()`
+- Inspect controller parameters: `controller.soap.get_controller_parameters()`
+- Retrieve DH parameters: `controller.soap.get_dh_parameters(robot=0)`
+
+```python
+robots = controller.soap.get_robots()
+controller_params = controller.soap.get_controller_parameters()
+dh = controller.soap.get_dh_parameters(robot=0)
+```
+
+![UnderAutomation Staubli communication SDK](https://raw.githubusercontent.com/underautomation/Staubli.NET/refs/heads/main/.github/assets/ControllerInfo.jpg)
+
+---
+
+### 📍 Track Positions & Joints
+
+- Cartesian pose + joints: `controller.soap.get_current_cartesian_joint_position()`
+- Joint-only feedback: `controller.soap.get_current_joint_position()`
+
+```python
+cartesian = controller.soap.get_current_cartesian_joint_position(robot=0)
+print(cartesian.joints_position)
+```
+
+![UnderAutomation Staubli communication SDK](https://raw.githubusercontent.com/underautomation/Staubli.NET/refs/heads/main/.github/assets/CurrentPosition.jpg)
+
+---
+
+### 🧠 Kinematics Helpers
+
+- Forward kinematics: `controller.soap.forward_kinematics(robot, joints)`
+- Inverse kinematics: `controller.soap.reverse_kinematics(robot, joints, target, config, joint_range)`
+
+```python
+joints = controller.soap.get_current_joint_position(robot=0)
+forward = controller.soap.forward_kinematics(0, joints)
+joint_range = controller.soap.get_joint_range(robot=0)
+reverse = controller.soap.reverse_kinematics(0, joints, forward.position, forward.config, joint_range)
+```
+
+![UnderAutomation Staubli communication SDK](https://raw.githubusercontent.com/underautomation/Staubli.NET/refs/heads/main/.github/assets/Kinematics.jpg)
+
+---
+
+### ⚙️ Motion Control Lifecycle
+
+- Power management: `controller.soap.set_power(True)`
+- Motion primitives: `move_l`, `move_jc`, `move_jj`, `move_c`
+- Lifecycle control: `stop_motion`, `reset_motion`, `restart_motion`
+
+```python
+from underautomation.staubli.soap.data.motion_desc import MotionDesc
+from underautomation.staubli.soap.data.frame import Frame
+
+mdesc = MotionDesc()
+mdesc.velocity = 250
+
+frame = Frame()
+frame.px, frame.py, frame.pz = 300, 0, 450
+
+controller.soap.set_power(True)
+controller.soap.move_l(0, frame, mdesc)
+```
+
+![UnderAutomation Staubli communication SDK](https://raw.githubusercontent.com/underautomation/Staubli.NET/refs/heads/main/.github/assets/Motion.jpg)
+
+---
+
+### 📡 Physical & Logical I/O Management
+
+- Discover I/Os: `controller.soap.get_all_physical_ios()`
+- Read states: `controller.soap.read_ios([...])`
+- Write outputs: `controller.soap.write_ios([...], [...])`
+
+```python
+physical_ios = controller.soap.get_all_physical_ios()
+controller.soap.write_ios(["out1"], [1.0])
+```
+
+![UnderAutomation Staubli communication SDK](https://raw.githubusercontent.com/underautomation/Staubli.NET/refs/heads/main/.github/assets/PhysicalIos.jpg)
+
+---
+
+### 📦 Application & Project Control
+
+- Load projects: `controller.soap.load_project("Disk://project.pjx")`
+- Inspect VAL apps: `controller.soap.get_val_applications()`
+- Control lifecycle: `stop_application()`, `stop_and_unload_all()`
+
+```python
+controller.soap.load_project("Disk://project.pjx")
+applications = controller.soap.get_val_applications()
+controller.soap.stop_and_unload_all()
+```
+
+![UnderAutomation Staubli communication SDK](https://raw.githubusercontent.com/underautomation/Staubli.NET/refs/heads/main/.github/assets/ValApplications.jpg)
+
+---
+
+### 🔁 Task Supervision
+
+- List VAL tasks: `controller.soap.get_tasks()`
+- Control execution: `task_suspend`, `task_resume`, `task_kill`
+
+```python
+tasks = controller.soap.get_tasks()
+controller.soap.task_kill(tasks[0].name, tasks[0].created_by)
+```
+
+---
+
+## ✅ Compatibility
+
+- **Controllers:** CS8, CS9
+- **Operating Systems:** Windows, Linux, macOS
+- **Python:** 3.7+
+- **Dependency:** pythonnet 3.0+
+
+---
+
+## 📜 License
+
+**⚠️ Commercial license required**  
+🔗 [View EULA](https://underautomation.com/Staubli/eula)
+
+Register your license at runtime with:
+
+```python
+from underautomation.staubli.staubli_controller import StaubliController
+
+license_info = StaubliController.register_license("Your Company", "XXXX-XXXX")
+print(license_info.state)
+```
+
+---
+
+## 🤝 Contributing
+
+You're welcome to:
+
+- Submit issues & pull requests
+- Share feature suggestions
+- Help improve documentation & samples
+
+👉 [Contribute on GitHub](https://github.com/underautomation/Staubli.py)
+
+---
+
+## 📬 Need Help?
+
+- 📚 [Documentation](https://underautomation.com/Staubli/documentation)
+- 📩 [Contact Support](https://underautomation.com/contact)
+
+---
+
+[⭐ Star the repo if useful](https://github.com/underautomation/Staubli.py/stargazers)  
+[👁️ Watch for updates](https://github.com/underautomation/Staubli.py/watchers)