carm 0.0.20250812__py3-none-any.whl → 0.0.20250815__py3-none-any.whl

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

carm-0.0.20250815.dist-info/METADATA

@@ -0,0 +1,11 @@
+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.dist-info/RECORD

@@ -0,0 +1,7 @@
+carm/__init__.py,sha256=lfNjXYpO8FjQVunCqiaUzjsNUnyuhcyO8Je0ixh1RJY,24
+carm/carm.py,sha256=cx04M6b5XyQpB8Xw-9sycwmoE4fKi3tBqGjmCmtABAc,10404
+carm-0.0.20250815.dist-info/METADATA,sha256=wZxNVuffF6HYb3_Qm7giI5qpBFU14luJ1XE0XLMddOw,389
+carm-0.0.20250815.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
+carm-0.0.20250815.dist-info/entry_points.txt,sha256=N8dt2p7PK_49n8YkzKy8tymcvKS7JEH9Ob6i093vEUg,62
+carm-0.0.20250815.dist-info/top_level.txt,sha256=nZ1bTssUAnAqc2CMka3erGx_2LsdZrSkqtjNf9Ce_d8,5
+carm-0.0.20250815.dist-info/RECORD,,

carm-0.0.20250815.dist-info/entry_points.txt

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

carm/carm_driver.py

@@ -1,303 +0,0 @@
-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-0.0.20250812.data/scripts/carm

@@ -1,106 +0,0 @@
-#!python
-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-0.0.20250812.data/scripts/carm_ros2

@@ -1,94 +0,0 @@
-#!python
-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-0.0.20250812.dist-info/METADATA

@@ -1,9 +0,0 @@
-Metadata-Version: 2.1
-Name: carm
-Version: 0.0.20250812
-Summary: Python interface for cvte arm.
-Author: Yong Zhao
-Author-email: zhaoyong11933@cvte.com
-Requires-Dist: websocket-client
-
-Python interface for cvte arm.

carm-0.0.20250812.dist-info/RECORD

@@ -1,10 +0,0 @@
-carm/__init__.py,sha256=lfNjXYpO8FjQVunCqiaUzjsNUnyuhcyO8Je0ixh1RJY,24
-carm/carm.py,sha256=8EpL0iaWyfRWsKmmh_K2qtxqNUHHkU0uoDZRfctGSfY,10330
-carm/carm_driver.py,sha256=fT6UYpJEr0kcmPQcXvbCaAw27_770iqNs64OrscwUdU,10393
-carm-0.0.20250812.data/scripts/carm,sha256=kWcTgUciXtd3cMA3w__cZMVNe4QURi-xHEx8ob2vWnA,4088
-carm-0.0.20250812.data/scripts/carm_ros2,sha256=MfzWv6-orDIpFJQ4ctmP1NBYg135qpc61gIraL7hPP0,3683
-carm-0.0.20250812.dist-info/METADATA,sha256=ahKVvXQf-2daRSrO_k4za2spQ1yTD_sTlljskAyJxn4,214
-carm-0.0.20250812.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
-carm-0.0.20250812.dist-info/top_level.txt,sha256=nZ1bTssUAnAqc2CMka3erGx_2LsdZrSkqtjNf9Ce_d8,5
-carm-0.0.20250812.dist-info/zip-safe,sha256=AbpHGcgLb-kRsJGnwFEktk7uzpZOCcBY74-YBdrKVGs,1
-carm-0.0.20250812.dist-info/RECORD,,

carm-0.0.20250812.dist-info/zip-safe

@@ -1 +0,0 @@
-