carm 0.0.20250807__tar.gz

carm-0.0.20250807/PKG-INFO

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+Metadata-Version: 2.1
+Name: carm
+Version: 0.0.20250807
+Summary: Python interface for cvte arm.
+Author: Yong Zhao
+Author-email: zhaoyong11933@cvte.com
+Requires-Dist: websocket-client

carm-0.0.20250807/carm/__init__.py

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+from .carm import Carm 

carm-0.0.20250807/carm/carm.py

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+import websocket
+import threading
+import json
+import uuid
+
+class Carm:
+    def __init__(self, addr = "ws://100.84.147.120:8090"):
+        self.state = None
+        self.last_msg = None
+        self.ws = websocket.WebSocketApp(
+            addr,  # 测试用的公开WebSocket服务
+            on_open   = lambda ws: self.on_open(ws),
+            on_close  = lambda ws, code, close_msg: self.on_close(ws, code, close_msg),
+            on_message= lambda ws, msg: self.on_message(ws, msg),
+        )
+
+        self.ops = {
+            "webSendRobotState": lambda msg: self.cbk_status(msg),
+            "taskFinished": lambda msg: self.cbk_taskfinish(msg),
+            "onCarmError": lambda msg: print("Error:", msg)
+        }
+        self.res_pool  = {}
+        self.task_pool = {}
+
+        self.reader = threading.Thread(target=self.recv_loop).start()
+        self.open_ready = threading.Event()
+        self.open_ready.wait()
+        self.limit = self.get_limits()["params"]
+
+        self.set_ready()
+
+    @property
+    def version(self):
+        return self.request({"command":"getArmIntrinsicProperties",
+                             "arm_index":0,
+                             "type":"version"})
+    
+
+    def get_limits(self):
+        return self.request({"command":"getJointParams",
+                             "arm_index":0,
+                             "type":"version"})
+
+    def set_ready(self):
+        arm = self.state["arm"][0]
+        if arm["fsm_state"] == "POSITION" or arm["fsm_state"] == "MIT":
+            return True
+        
+        if arm["fsm_state"] == "ERROR":
+            self.clean_carm_error()
+        
+        if arm["fsm_state"] == "IDLE":
+            self.set_servo_enable(True)
+
+        return self.set_control_mode(1)
+
+    def set_servo_enable(self, enable=True):
+        return self.request({"command":"setServoEnable",
+                             "arm_index":0,
+                             "enable":enable})
+    
+    def set_control_mode(self, mode=1):
+        return self.request({"command":"setControlMode",
+                             "arm_index":0,
+                             "mode":mode})
+    
+    def set_end_effector(self, pos, tau):
+        pos = self.__clip(pos, 0, 0.08)
+        tau = self.__clip(tau, 0, 9)
+
+        return self.request({"command":"setEffectorCtr",
+                             "arm_index":0,
+                             "pos": pos,
+                             "tau": tau})
+    
+    def get_tool_coordinate(self, tool):
+        return self.request({"command":"getCoordinate",
+                             "arm_index":0,
+                             "type": "tool",
+                             "index": tool})
+
+    
+    def set_collision_config(self, flag = True, level = 10):
+        return self.request({"command":"setCollisionConfig",
+                             "arm_index":0,
+                             "flag": flag,
+                             "level": level})
+    
+    def stop(self, type=0):
+        stop_id = ["SIG_ARM_PAUSE", "SIG_ARM_STOP", 
+                   "SIG_ARM_DISABLE","SIG_EMERGENCY_STOP"]
+        return self.request({"command":"stopSignals",
+                             "arm_index":0,
+                             "stop_id":  stop_id[type],
+                             "step_cnt":5})
+    
+    def stop_task(self, at_once=False):
+        return self.request({"command":"stopSignals",
+                             "arm_index":0,
+                             "stop_id": "SIG_TASK_STOP",
+                             "stop_at_once": at_once})
+    
+    def recover(self):
+        return self.request({"command":"stopSignals",
+                             "arm_index":0,
+                             "stop_id": "SIG_ARM_RECOVER",
+                             "step_cnt": 5})
+    
+    def clean_carm_error(self):
+        return self.request({"command":"setControllerErrorReset",
+                             "arm_index":0})
+    
+    def set_speed_level(self, level, response_level):
+        return self.request({"command":"setSpeedLevel",
+                             "arm_index":0,
+                             "level":level,
+                             "response_level":response_level})
+    
+    def set_debug(self, flag):
+        return self.request({"command":"setDebugMode",
+                             "arm_index":0,
+                             "trigger":flag})
+
+    def get_urdf(self):
+        return self.request({"command":"getArmIntrinsicProperties",
+                             "arm_index":0,
+                             "type":"urdf"})   
+    @property
+    def joint_pos(self):
+        return self.state["arm"][0]["reality"]["pose"]
+    
+    @property
+    def joint_vel(self):
+        return self.state["arm"][0]["reality"]["vel"]
+    
+    @property
+    def joint_tau(self):
+        return self.state["arm"][0]["reality"]["torque"]
+    
+    @property
+    def cart_pose(self):
+        return self.state["arm"][0]["pose"]
+    
+    @property
+    def gripper_state(self):
+        return self.state["arm"][0]["gripper"]
+    
+    def clip_joints(self, joints):
+        lower = self.limit['limit_lower']
+        upper = self.limit["limit_upper"]
+        for i,v in enumerate(joints):
+            joints[i] = self.__clip(v, lower[i], upper[i])
+        return joints
+    
+    def track_joint(self, pos, end_effector = -1):
+        pos = self.clip_joints(pos)
+        req = {"command":"trajectoryTrackingTasks",
+               "task_id":"TASK_TRACKING",
+               "arm_index":0,
+               "point_type":{"space":0},
+               "data":{"way_point": pos}}
+        
+        if end_effector >= 0:
+            req["data"]["eeffe_point"] = end_effector
+
+        return self.request(req)
+    
+    def track_pose(self, pos, end_effector = -1):
+        req = {"command":"trajectoryTrackingTasks",
+               "task_id":"TASK_TRACKING",
+               "arm_index":0,
+               "point_type":{"space":1},
+               "data":{"way_point": pos}}
+        
+        if end_effector > 0:
+            req["data"]["eeffe_point"] = end_effector
+
+        return self.request(req)
+
+    def move_joint(self, pos, tm=-1, sync=True, user=0, tool=0):
+        pos = self.clip_joints(pos)
+        
+        res =  self.request({"command":"webRecieveTasks",
+                             "task_id":"TASK_MOVJ",
+                             "task_level":"Task_General",
+                             "arm_index":0,
+                             "point_type":{"space":0},
+                             "data":{"user":user,"tool":tool, "target_pos": pos, "speed":100}}) 
+        
+        if sync and res["recv"]=="Task_Recieve":
+            self.wait_task(res["task_key"])
+
+        return res
+
+    def move_pose(self, pos, tm=-1, sync=True, user=0, tool=0):
+        res =  self.request({"command":"webRecieveTasks",
+                             "task_id":"TASK_MOVJ",
+                             "task_level":"Task_General",
+                             "arm_index":0,
+                             "point_type":{"space":1},
+                             "data":{"user":user,"tool":tool, "target_pos": pos, "speed":100}}) 
+        
+        if sync and res["recv"]=="Task_Recieve":
+            self.wait_task(res["task_key"])
+
+        return res
+        
+    def wait_task(self, task_key):
+        event = threading.Event()
+        self.task_pool[task_key] = {"event":event}
+        event.wait()
+        self.task_pool.pop(task_key)
+    
+    def move_joint_traj(self, target_traj, gripper_pos = [], stamps = [], is_sync=True):
+        if len(stamps) != len(target_traj): # as soon as possible
+            return self.move_toppra(target_traj, gripper_pos, 100, is_sync)
+        else:
+            return self.move_pvt(target_traj, gripper_pos, stamps, is_sync)        
+    
+    def move_pose_traj(self, target_traj, gripper_pos = [], stamps = [], is_sync=True):
+        if len(stamps) != len(target_traj): # as soon as possible
+            return self.move_toppra(target_traj, gripper_pos, 100, is_sync)
+        else:
+            return self.move_pvt(target_traj, gripper_pos, stamps, is_sync)
+        
+    def move_toppra(self, target_traj, gripper_pos = [], speed = [], is_sync=True):
+        pass # TODO
+
+    def move_pvt(self, target_traj, gripper_pos = [], stamps = [], is_sync=True):
+        pass # TODO
+
+    def invK(self, cart_pose, ref_joints, user=0, tool=0):
+        if not type(cart_pose[0]) is list:
+            cart_pose = [cart_pose, ]
+        assert(len(cart_pose) == len(ref_joints))
+        return self.request({"command":"getKinematics",
+                             "task_id":"inverse",
+                             "arm_index":0,
+                             "data":{"user":user,"tool":tool,"point_cnt":len(cart_pose)}})
+
+    def request(self, req):
+        event = threading.Event()
+        task_key = str(uuid.uuid4())
+        req["task_key"] = task_key
+        self.res_pool[task_key] = {"req":req,"event":event}
+
+        self.send(req)
+
+        event.wait()
+        return self.res_pool.pop(task_key)["res"]
+        
+    def send(self, msg):
+        self.ws.send(json.dumps(msg))
+        
+    def cbk_status(self, message):
+        self.state = message
+
+    def cbk_taskfinish(self, message):
+        task = message["task_key"]
+        self.task_pool[task]["event"].set()
+        
+    def on_open(self, ws):
+        self.open_ready.set()
+        print("连接成功")
+
+    def on_close(self, ws, code, close_msg):
+        print("连接断开",code, close_msg)
+
+    def on_message(self, ws, message):
+        msg = json.loads(message)
+        self.last_msg = msg
+        cmd = msg["command"]
+        op = self.ops.get(cmd, lambda msg: self.response_op(msg))
+        op(msg)
+
+    def response_op(self, res):
+        id   = res.get("task_key","")
+        data = self.res_pool[id]
+        data["res"] = res
+        data["event"].set() # notify request thread
+
+
+    def recv_loop(self):
+        print("Recv loop started.")
+        self.ws.run_forever()
+
+    def __clip(self, value, min_val, max_val):
+        return max(min_val, min(value, max_val))
+
+if __name__ == "__main__":
+    carm = Carm()
+    print("version:",carm.version)
+    print("limits:", carm.limit)
+    print("state:", carm.state)
+
+    carm.track_joint(carm.joint_pos)
+    print(1)
+    carm.move_joint(carm.joint_pos)
+    print(2)
+    carm.track_pose(carm.cart_pose)
+    print(3)
+    carm.move_pose(carm.cart_pose)
+    print(4)

carm-0.0.20250807/carm.egg-info/PKG-INFO

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+Metadata-Version: 2.1
+Name: carm
+Version: 0.0.20250807
+Summary: Python interface for cvte arm.
+Author: Yong Zhao
+Author-email: zhaoyong11933@cvte.com
+Requires-Dist: websocket-client

carm-0.0.20250807/carm.egg-info/SOURCES.txt

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+setup.py
+carm/__init__.py
+carm/carm.py
+carm.egg-info/PKG-INFO
+carm.egg-info/SOURCES.txt
+carm.egg-info/dependency_links.txt
+carm.egg-info/requires.txt
+carm.egg-info/top_level.txt
+carm.egg-info/zip-safe

carm-0.0.20250807/carm.egg-info/dependency_links.txt

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+

carm-0.0.20250807/carm.egg-info/requires.txt

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+websocket-client

carm-0.0.20250807/carm.egg-info/top_level.txt

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+carm

carm-0.0.20250807/carm.egg-info/zip-safe

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+

carm-0.0.20250807/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

carm-0.0.20250807/setup.py

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+from setuptools import setup, find_packages
+
+setup(
+    name="carm",
+    version="0.0.20250807",
+    packages=find_packages(),
+    package_data={
+        "carm": [
+            "__init__.py",
+            "carm.py",
+        ],  
+    },
+    include_package_data=True,
+    install_requires=["websocket-client"],
+    zip_safe=True,
+    author='Yong Zhao',
+    author_email='zhaoyong11933@cvte.com',
+    description="Python interface for cvte arm.",
+)