Combining motion commands with IO manipulation

[mattiskoh]

Hi John,

I'm curious to know more about the intended use is for this repo combined with https://github.com/rpiRobotics/abb_robot_client .
I've been familiarizing myself a bit with both and so far they work great.

One limitation I see currently is generating programs that require a input/output signal synchronization with movements, a simple example being:

MoveL here
SetDO this
MoveL there

Is this something that you believe will be part of this library or not? I'm not so familiar with your robotraconteur work but I can imagine this must have some overlap regarding this.

I'd be happy to contribute to work on the implementation of this logic both from the Python side as well as RAPID.

Looking forward to hear your thoughts on this.