carm 0.0.20250807__tar.gz → 0.0.20250815__tar.gz

carm-0.0.20250815/PKG-INFO

@@ -0,0 +1,10 @@
+Metadata-Version: 2.1
+Name: carm
+Version: 0.0.20250815
+Summary: Python interface for cvte arm.
+Author-email: Yong Zhao <zhaoyong11933@cvte.com>
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Programming Language :: Python :: Implementation :: PyPy
+Requires-Python: >=3.6
+Requires-Dist: websocket-client

carm-0.0.20250815/README.md

@@ -0,0 +1,31 @@
+# pycarm
+
+Python interface for cvte arm.
+
+# Install
+
+```
+pip install carm
+```
+
+# Usage
+
+```
+import carm
+
+arm = carm.Carm("ws://localhost:8090")
+
+print("version:",carm.version)
+print("limits:", carm.limit)
+print("state:", carm.state)
+
+carm.track_joint(carm.joint_pos)
+
+carm.move_joint(carm.joint_pos)
+
+carm.track_pose(carm.cart_pose)
+
+carm.move_pose(carm.cart_pose)
+```
+
+

{carm-0.0.20250807 → carm-0.0.20250815}/carm/carm.py

@@ -2,6 +2,7 @@ import websocket
 import threading
 import json
 import uuid
+import time
 
 class Carm:
     def __init__(self, addr = "ws://100.84.147.120:8090"):
@@ -42,6 +43,8 @@ class Carm:
                              "type":"version"})
 
     def set_ready(self):
+        while self.state is None:
+            time.sleep(0.1)
         arm = self.state["arm"][0]
         if arm["fsm_state"] == "POSITION" or arm["fsm_state"] == "MIT":
             return True
@@ -261,10 +264,10 @@ class Carm:
         
     def on_open(self, ws):
         self.open_ready.set()
-        print("连接成功")
+        print("Connected successfully.")
 
     def on_close(self, ws, code, close_msg):
-        print("连接断开",code, close_msg)
+        print("Disconnected, please check your --addr",code, close_msg)
 
     def on_message(self, ws, message):
         msg = json.loads(message)
@@ -289,9 +292,6 @@ class Carm:
 
 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-0.0.20250815/carm.egg-info/PKG-INFO

@@ -0,0 +1,10 @@
+Metadata-Version: 2.1
+Name: carm
+Version: 0.0.20250815
+Summary: Python interface for cvte arm.
+Author-email: Yong Zhao <zhaoyong11933@cvte.com>
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Programming Language :: Python :: Implementation :: PyPy
+Requires-Python: >=3.6
+Requires-Dist: websocket-client

{carm-0.0.20250807 → carm-0.0.20250815}/carm.egg-info/SOURCES.txt

@@ -1,9 +1,12 @@
-setup.py
+README.md
+pyproject.toml
 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/entry_points.txt
 carm.egg-info/requires.txt
 carm.egg-info/top_level.txt
-carm.egg-info/zip-safe
+scripts/carm
+scripts/carm_ros2

carm-0.0.20250815/carm.egg-info/entry_points.txt

@@ -0,0 +1,3 @@
+[console_scripts]
+carm = carm:main
+carm_ros2 = carm:ros2_main

carm-0.0.20250815/pyproject.toml

@@ -0,0 +1,31 @@
+[build-system]
+requires = ["setuptools>=42"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "carm"
+version = "0.0.20250815"
+authors = [
+    {name = "Yong Zhao", email = "zhaoyong11933@cvte.com"},
+]
+description = "Python interface for cvte arm."
+requires-python = ">=3.6"
+dependencies = ["websocket-client"]
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: Implementation :: CPython",
+    "Programming Language :: Python :: Implementation :: PyPy",
+]
+
+[project.scripts]
+carm = "carm:main"
+carm_ros2 = "carm:ros2_main"
+
+[tool.setuptools]
+packages = ["carm"]
+
+[tool.setuptools.package-data]
+carm = [
+    "__init__.py",
+    "carm.py",
+]

carm-0.0.20250815/scripts/carm

@@ -0,0 +1,106 @@
+#!/usr/bin/python3
+import time
+import os
+import argparse
+import svar
+import numpy as np
+import carm
+
+messenger = svar.load("svar_messenger").messenger
+
+class ArmDriver:
+    def __init__(self,args):
+        self.args = args
+        
+        self.arm       = carm.Carm(args.addr)
+        if args.mit:
+            self.arm.set_control_mode(3)
+        else:
+            self.arm.set_control_mode(1)
+
+        self.pub_joint = messenger.advertise(args.joint_topic, 0)
+        self.pub_end   = messenger.advertise(args.end_topic, 0)
+        
+        self.sub_joint = messenger.subscribe(args.joint_cmd_topic, 0, lambda msg:self.joint_callback(msg))
+        self.sub_end   = messenger.subscribe(args.end_cmd_topic, 0, lambda msg:self.end_callback(msg))
+
+    def end_callback(self, msg):  
+        position = np.frombuffer(msg["position"],dtype=np.float64).tolist()
+        self.arm.track_pose(position)
+
+    def joint_callback(self, msg):        
+        position = np.frombuffer(msg["position"],dtype=np.float64).tolist()        
+        self.arm.track_joint(position)
+
+    def loop(self):
+        while True:
+            stamp   = time.time()
+            sec     = int(stamp )
+            nanosec = int((stamp - sec) * 1e9)
+            header  = {"stamp": {"sec": sec, "nanosec": nanosec},"frame_id": "base_link"}
+
+            end_msg = {"header": header, "position": self.arm.cart_pose + [self.arm.gripper_state["gripper_pos"],]}
+            joints_msg = {"header": header, "position": self.arm.joint_pos + [self.arm.gripper_state["gripper_pos"],]}
+            
+            self.pub_joint.publish(joints_msg)
+            self.pub_end.publish(end_msg)
+
+            time.sleep(0.005)
+
+def send_cmd(args):
+    arm       = carm.Carm(args.addr,mit=args.mit)
+
+    cmd = args.cmd
+
+    if cmd == "disable":
+       arm.set_servo_enable(False)
+    if cmd == "remote":
+       arm.set_control_mode(3)
+
+def driver_main(args):
+    print("Starting driver mode...")
+        
+    driver = ArmDriver(args)
+    
+    ros2 = svar.load(args.dds)
+    transfer = ros2.Transfer({"node": "carm_driver" + args.device, 
+                              "publishers":[[args.joint_topic, "sensor_msgs/msg/JointState",10],
+                                            [args.end_topic, "sensor_msgs/msg/JointState",10],
+                                            ],
+                              "subscriptions":[[args.joint_cmd_topic, "sensor_msgs/msg/JointState",10],
+                                               [args.end_cmd_topic, "sensor_msgs/msg/JointState",10]]})
+    
+    driver.loop()
+    
+    
+    
+# 测试代码
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--addr", type=str, default="ws://localhost:8090", help="Device address, including ip and port")
+    parser.add_argument("--cmd", type=str, default="", help="Send command instead of start driver, support enable,disable,remote")
+    parser.add_argument("--device", type=str, default="carm", help="device name, used as topic prefix")
+    parser.add_argument("--dds", type=str, default="svar_messenger_ros2", help="the dds plugin, default is ros2, options: svar_zbus, svar_lcm")
+    parser.add_argument("--mit", action="store_true", help="Enable mit mode")
+    parser.add_argument("--joint_topic", type=str, default="", help="the joints status topic")
+    parser.add_argument("--end_topic", type=str, default="", help="the joints status topic")
+    parser.add_argument("--joint_cmd_topic", type=str, default="", help="the joints cmd topic")
+    parser.add_argument("--end_cmd_topic", type=str, default="", help="the end cmd topic")
+    
+    args = parser.parse_args()
+    
+    if args.joint_topic == "":
+        args.joint_topic = "/"+args.device + "/joints"
+    if args.end_topic == "":
+        args.end_topic = "/"+args.device + "/end"
+    if args.joint_cmd_topic == "":
+        args.joint_cmd_topic = "/"+args.device + "/joints_cmd"
+    if args.end_cmd_topic == "":
+        args.end_cmd_topic = "/"+args.device + "/end_cmd"
+    
+    if args.cmd == "":
+        driver_main(args)
+    else:
+        send_cmd(args)
+    
+    

carm-0.0.20250815/scripts/carm_ros2

@@ -0,0 +1,94 @@
+#!/usr/bin/python3
+import rclpy
+from rclpy.node import Node
+import time
+import argparse
+
+from std_msgs.msg import String, Bool, Int16MultiArray, MultiArrayLayout, MultiArrayDimension, Int8
+from geometry_msgs.msg import Point, Pose, PoseArray
+from sensor_msgs.msg import JointState
+from example_interfaces.srv import AddTwoInts
+import carm
+import threading
+import numpy as np
+
+class ArmDriver(Node):
+    def __init__(self,args):
+        super().__init__('carm_'+args.device)
+        self.args = args
+        
+        self.arm       = carm.Carm(args.addr)
+        if args.mit:
+            self.arm.set_control_mode(3)
+        else:
+            self.arm.set_control_mode(1)
+
+        
+        print("version:",self.arm.version)
+        print("limits:", self.arm.limit)
+        print("state:", self.arm.state)
+
+        self.pub_joint = self.create_publisher(JointState, args.joint_topic, 10)
+        self.pub_end   = self.create_publisher(JointState, args.end_topic, 10)
+        
+        self.sub_joint = self.create_subscription(JointState, args.joint_cmd_topic, self.joint_callback, 10)
+        self.sub_end   = self.create_subscription(JointState, args.end_cmd_topic, self.end_callback, 10)
+
+        self.worker = threading.Thread(target=self.loop).start()
+
+    def end_callback(self, msg):  
+        self.arm.track_pose(list(msg.position))
+
+    def joint_callback(self, msg):     
+        self.arm.track_joint(list(msg.position))
+
+    def loop(self):
+        while True:
+            joint_msg = JointState()          # list of string
+            joint_msg.header.stamp = self.get_clock().now().to_msg()
+            joint_msg.position = self.arm.joint_pos
+            joint_msg.velocity = self.arm.joint_vel
+            joint_msg.effort   = self.arm.joint_tau
+            joint_msg.position.append(self.arm.gripper_state["gripper_pos"])
+            self.pub_joint.publish(joint_msg)
+            
+            
+            end_msg = JointState()          # list of string
+            end_msg.header.stamp = self.get_clock().now().to_msg()
+            end_msg.position = np.array(self.arm.cart_pose).tolist()
+            end_msg.position.append(self.arm.gripper_state["gripper_pos"])
+            self.pub_end.publish(end_msg)
+
+            time.sleep(0.005)
+   
+# 测试代码
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--addr", type=str, default="ws://localhost:8090", help="Device address, including ip and port")
+    parser.add_argument("--device", type=str, default="carm", help="device name, used as topic prefix")
+    parser.add_argument("--dds", type=str, default="svar_messenger_ros2", help="the dds plugin, default is ros2, options: svar_zbus, svar_lcm")
+    parser.add_argument("--mit", action="store_true", help="Enable mit mode")
+    parser.add_argument("--joint_topic", type=str, default="", help="the joints status topic")
+    parser.add_argument("--end_topic", type=str, default="", help="the joints status topic")
+    parser.add_argument("--joint_cmd_topic", type=str, default="", help="the joints cmd topic")
+    parser.add_argument("--end_cmd_topic", type=str, default="", help="the end cmd topic")
+    
+    args = parser.parse_args()
+    
+    if args.joint_topic == "":
+        args.joint_topic = "/"+args.device + "/joints"
+    if args.end_topic == "":
+        args.end_topic = "/"+args.device + "/end"
+    if args.joint_cmd_topic == "":
+        args.joint_cmd_topic = "/"+args.device + "/joints_cmd"
+    if args.end_cmd_topic == "":
+        args.end_cmd_topic = "/"+args.device + "/end_cmd"
+    
+    
+    rclpy.init(args=None)
+    node = ArmDriver(args)
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+    
+    

carm-0.0.20250807/PKG-INFO

@@ -1,7 +0,0 @@
-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/PKG-INFO

@@ -1,7 +0,0 @@
-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/zip-safe

@@ -1 +0,0 @@
-

carm-0.0.20250807/setup.py

@@ -1,19 +0,0 @@
-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.",
-)