carm 0.0.20250911__py3-none-any.whl → 0.1.20251010__py3-none-any.whl

carm/carm.py

@@ -425,6 +425,20 @@ class Carm:
     def move_pvt(self, target_traj, gripper_pos = [], stamps = [], is_sync=True):
         pass # TODO
 
+    def set_redundancy_tau(self, redundancy_tau, end_effector=None):
+        """
+        设置冗余关节的力矩
+        Args:
+            redundancy_tau (list): The redundancy joint torque.
+            end_effector (int, optional): The end effector index.
+        Returns:
+            dict: The response from the arm.
+        """
+        return self.request({"command":"setRedundancyTau",
+                             "arm_index":0,
+                             "is_master":True,
+                             "redundancy_tau":redundancy_tau})
+
     def invK(self, cart_pose, ref_joints, user=0, tool=0):
         """
         逆解
@@ -466,6 +480,17 @@ class Carm:
     def __cbk_status(self, message):
         self.state = message
 
+        if not "arm" in message:
+            return
+        
+        arm_json = message["arm"][0]
+        if "last_task_key" not in arm_json:
+            return
+        
+        task = arm_json["last_task_key"]
+        self.task_pool[task]["event"].set()
+        
+
     def __cbk_taskfinish(self, message):
         task = message["task_key"]
         self.task_pool[task]["event"].set()

carm/carm_dds.py

@@ -13,10 +13,7 @@ class ArmDriver:
         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.arm.set_control_mode(args.mode)
 
         self.arm.set_speed_level(args.speed)
 
@@ -28,8 +25,14 @@ class ArmDriver:
         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)
+        position = msg["position"]
+        if type(position) != tuple:
+            position = np.frombuffer(msg["position"],dtype=np.float64).tolist()
+
+        if position > 7:
+            self.arm.track_pose(position[:7], position[7])
+        else:
+            self.arm.track_pose(position)
 
         if self.args.enable_ik:
             ret = self.arm.invK(position, ref_joints=self.arm.joint_pos)
@@ -41,9 +44,15 @@ class ArmDriver:
             self.pub_joint_ik.publish({"header": msg["header"], "position": pos})
 
 
-    def joint_callback(self, msg):        
-        position = np.frombuffer(msg["position"],dtype=np.float64).tolist()        
-        self.arm.track_joint(position)
+    def joint_callback(self, msg):     
+        position = msg["position"]
+        if type(position) != tuple:   
+            position = np.frombuffer(msg["position"],dtype=np.float64).tolist()  
+
+        if position > 6:
+            self.arm.track_joint(position[:6], position[6])
+        else:
+            self.arm.track_joint(position)      
 
     def loop(self):
         while True:
@@ -52,8 +61,12 @@ class ArmDriver:
             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"],]}
+            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"],], 
+                          "velocity": self.arm.joint_vel + [self.arm.gripper_state["gripper_vel"],], 
+                          "effort": self.arm.joint_tau + [self.arm.gripper_state["gripper_tau"],]}
             
             self.pub_joint.publish(joints_msg)
             self.pub_end.publish(end_msg)
@@ -92,13 +105,13 @@ def main():
     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("--mode", type=int, default=1, help="The arm control mode: POSITION:1, MIT:2, MASTER:3")
     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("--joint_cmd_ik_topic", type=str, default="", help="the joints cmd ik topic, this means both end_cmd_topic will be transformed with ik")
     parser.add_argument("--end_cmd_topic", type=str, default="", help="the end cmd topic")
-    parser.add_argument("--speed", type=float, default=5.0, help="the speed level")
+    parser.add_argument("--speed", type=float, default=50.0, help="the speed level")
     
     args = parser.parse_args()
     

carm/carm_ros2.py

@@ -46,9 +46,9 @@ class ArmDriver(Node):
         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 = np.array(self.arm.joint_pos).tolist()
+            joint_msg.velocity = np.array(self.arm.joint_vel).tolist()
+            joint_msg.effort   = np.array(self.arm.joint_tau).tolist()
             joint_msg.position.append(self.arm.gripper_state["gripper_pos"])
             self.pub_joint.publish(joint_msg)
             

{carm-0.0.20250911.dist-info → carm-0.1.20251010.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: carm
-Version: 0.0.20250911
+Version: 0.1.20251010
 Summary: Python interface for cvte arm.
 Author-email: Yong Zhao <zhaoyong11933@cvte.com>
 Classifier: Programming Language :: Python :: 3

carm-0.1.20251010.dist-info/RECORD

@@ -0,0 +1,9 @@
+carm/__init__.py,sha256=lfNjXYpO8FjQVunCqiaUzjsNUnyuhcyO8Je0ixh1RJY,24
+carm/carm.py,sha256=jep6tWFUYl-8jw-qixC_awV5gdTEyicBU2K7oU7qNGs,17973
+carm/carm_dds.py,sha256=DfejpbrW_qWq36ZQpyWVRdfDsUCkScHXOx2fP-8i3kY,5711
+carm/carm_ros2.py,sha256=nox040kSIjpwT9s-crH9D0yGYvFPNfkWNrzj4tqf4I8,3766
+carm-0.1.20251010.dist-info/METADATA,sha256=QeLknGXuES8_Ld8fsX5AOVUKlgUztdVXoOr4lzJiGGM,389
+carm-0.1.20251010.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
+carm-0.1.20251010.dist-info/entry_points.txt,sha256=qsJWC39p-s4UO3KZ8BfV2hikeMX693mahkYbR3w67Lk,76
+carm-0.1.20251010.dist-info/top_level.txt,sha256=nZ1bTssUAnAqc2CMka3erGx_2LsdZrSkqtjNf9Ce_d8,5
+carm-0.1.20251010.dist-info/RECORD,,

carm-0.0.20250911.dist-info/RECORD

@@ -1,9 +0,0 @@
-carm/__init__.py,sha256=lfNjXYpO8FjQVunCqiaUzjsNUnyuhcyO8Je0ixh1RJY,24
-carm/carm.py,sha256=yVKWmDov9c69l7ye1jcWwBWluWgarEUbFhU6tSfaVoA,17159
-carm/carm_dds.py,sha256=9IkexhHYrjNx2nzplEa4Kj0KdLayzACPChtIF1G29BM,5137
-carm/carm_ros2.py,sha256=IxQD4pglxCH2Vbfj6mm2DlV8KgkqMnS0k1-mIICV8I8,3709
-carm-0.0.20250911.dist-info/METADATA,sha256=hpgdZE1IgDYSIAC3HU-RMdfVtbVGgYlhcLWKuWyslJA,389
-carm-0.0.20250911.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
-carm-0.0.20250911.dist-info/entry_points.txt,sha256=qsJWC39p-s4UO3KZ8BfV2hikeMX693mahkYbR3w67Lk,76
-carm-0.0.20250911.dist-info/top_level.txt,sha256=nZ1bTssUAnAqc2CMka3erGx_2LsdZrSkqtjNf9Ce_d8,5
-carm-0.0.20250911.dist-info/RECORD,,