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Installation

Requirements

  • Python 3.11 to 3.14.
  • Windows (x86-64), Linux (x86-64, ARM64) or macOS (ARM64): the kinematics backend, pinokin, ships wheels for these, for Python 3.11 to 3.14. Its Linux wheels need glibc 2.39 or newer: Ubuntu 24.04 or newer, not 22.04. Its macOS wheels need macOS 15 or newer.
  • The PC at the robot: the minimum PC of the Robot Manual. A client that only sends commands runs anywhere.

Install

From a clone of PAROL6-python-API, in a virtual environment:

git clone https://github.com/PCrnjak/PAROL6-python-API.git
cd PAROL6-python-API
git checkout v0.9.1
py -3.11 -m venv .venv
.venv\Scripts\activate
pip install .
The robot's serial port is COM and a number: Device Manager lists it under Ports (COM & LPT).

git clone https://github.com/PCrnjak/PAROL6-python-API.git
cd PAROL6-python-API
git checkout v0.9.1
python3 -m venv .venv
source .venv/bin/activate
pip install .
sudo usermod -aG dialout $USER     # access to the serial port; log out and in again once
The robot's serial port is /dev/ttyACM0 (ls /dev/ttyACM* lists it).

git clone https://github.com/PCrnjak/PAROL6-python-API.git
cd PAROL6-python-API
git checkout v0.9.1
python3 -m venv .venv
source .venv/bin/activate
pip install .
Apple silicon (ARM64) only. The robot's serial port is /dev/cu.usbmodem and a number (ls /dev/cu.usbmodem* lists it).

The package pulls pinokin, numpy, scipy, Ruckig, TOPP-RA, numba, pyserial, msgspec, ormsgpack, psutil and the waldoctl interface layer. pip install -e . installs it editable for development.

Check

parol6-server --log-level=INFO

starts the controller in simulator mode when no serial port is given. In another terminal:

from parol6 import RobotClient
with RobotClient() as rbt:
    print(rbt.ping())

Check

It prints a PingResult with hardware_connected=False. Stop the server with Ctrl-C.

Versions

The API is pre-1.0 and released often; a minor version can change an interface, and the controller and the client must be the same version, since they share the wire protocol. The release notes list the changes; this site describes v0.9.1.

Comments

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