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        "description": "[![CircleCI](https://circleci.com/gh/luismesas/pydobot.svg?style=svg)](https://circleci.com/gh/luismesas/pydobot)\n\nPython library for Dobot Magician\n===\n\nBased on Communication Protocol V1.1.4 (_latest version [here](https://www.dobot.cc/downloadcenter.html?sub_cat=72#sub-download)_)\n\n\nInstallation\n---\n\n```\npip install pydobot\n```\n\nExample\n---\n\n```python\nfrom serial.tools import list_ports\n\nfrom pydobot import Dobot\n\nport = list_ports.comports()[0].device\ndevice = Dobot(port=port, verbose=True)\n\n(x, y, z, r, j1, j2, j3, j4) = device.pose()\nprint(f'x:{x} y:{y} z:{z} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')\n\ndevice.move_to(x + 20, y, z, r, wait=False)\ndevice.move_to(x, y, z, r, wait=True)  # we wait until this movement is done before continuing\n\ndevice.close()\n```\n\nMethods\n---\n\n* **Dobot(port, verbose=False)** Creates an instance of dobot connected to given serial port.\n    * **port**: _string_ with name of serial port to connect\n    * **verbose**: _bool_ will print to console all serial comms\n  \n* **.pose()** Returns the current pose of dobot, as a tuple (x, y, z, r, j1, j2, j3, j4)\n    * **x**: _float_ current x cartesian coordinate \n    * **y**: _float_ current y cartesian coordinate\n    * **z**: _float_ current z cartesian coordinate\n    * **r**: _float_ current effector rotation \n    * **j1**: _float_ current joint 1 angle \n    * **j2**: _float_ current joint 2 angle \n    * **j3**: _float_ current joint 3 angle \n    * **j4**: _float_ current joint 4 angle \n* **.move_to(x, y, z, r, wait=False)** queues a translation in dobot to given coordinates\n    * **x**: _float_ x cartesian coordinate to move \n    * **y**: _float_ y cartesian coordinate to move \n    * **z**: _float_ z cartesian coordinate to move \n    * **r**: _float_ r effector rotation \n    * **wait**: _bool_ waits until command has been executed to return to process\n* **.speed(velocity, acceleration)** changes velocity and acceleration at which the dobot moves to future coordinates\n    * **velocity**: _float_ desired translation velocity \n    * **acceleration**: _float_ desired translation acceleration \n* **.suck(enable)**\n    * **enable**: _bool_ enables/disables suction\n* **.grip(enable)**\n    * **enable**: _bool_ enables/disables gripper",
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