carm 0.0.20250911__py3-none-any.whl → 0.1.20251017__py3-none-any.whl

carm/carm.py

@@ -21,7 +21,7 @@ class Carm:
             "onCarmError": lambda msg: print("Error:", msg)
         }
         self.res_pool  = {}
-        self.task_pool = {}
+        self.task_event = threading.Event()
 
         self.reader = threading.Thread(target=self.__recv_loop, daemon=True).start()
         self.open_ready = threading.Event()
@@ -279,7 +279,7 @@ class Carm:
             joints[i] = self.__clip(v, lower[i], upper[i])
         return joints
     
-    def track_joint(self, pos, end_effector = -1):
+    def track_joint(self, pos, end_effector = None):
         """
         关节轨迹跟踪.
         Args:
@@ -295,12 +295,14 @@ class Carm:
                "point_type":{"space":0},
                "data":{"way_point": pos}}
         
-        if end_effector >= 0:
-            req["data"]["eeffe_point"] = end_effector
+        if not end_effector is None:
+            #req["data"]["grp_point"] = end_effector
+            tau = (0.1 - end_effector)  * 20
+            self.set_end_effector(end_effector, tau)
 
         return self.request(req)
     
-    def track_pose(self, pos, end_effector = -1):
+    def track_pose(self, pos, end_effector =None):
         """
         笛卡尔轨迹跟踪.
         Args:
@@ -315,9 +317,11 @@ class Carm:
                "point_type":{"space":1},
                "data":{"way_point": pos}}
         
-        if end_effector > 0:
-            req["data"]["eeffe_point"] = end_effector
-
+        if not end_effector is None:
+            #req["data"]["grp_point"] = end_effector
+            tau = (0.1 - end_effector)  * 20
+            self.set_end_effector(end_effector, tau)
+        
         return self.request(req)
 
     def move_joint(self, pos, tm=-1, sync=True, user=0, tool=0):
@@ -402,10 +406,8 @@ class Carm:
         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)
+        self.task_event= threading.Event()
+        self.task_event.wait()
     
     def move_joint_traj(self, target_traj, gripper_pos = [], stamps = [], is_sync=True):
         if len(stamps) != len(target_traj): # as soon as possible
@@ -425,6 +427,20 @@ 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
@@ -464,11 +480,25 @@ class Carm:
         self.ws.send(json.dumps(msg))
         
     def __cbk_status(self, message):
+        if not "arm" in message:
+            return
+            
         self.state = message
+        
+        if message["errMsg"] != "":
+            print(message["errMsg"] )
+        
+        arm_json = message["arm"][0]
+        if "task" not in arm_json:
+            return
+        running = arm_json["task"]["exe_flag"]
+        
+        if not running:
+            self.task_event.set()
+        
 
     def __cbk_taskfinish(self, message):
         task = message["task_key"]
-        self.task_pool[task]["event"].set()
         
     def __on_open(self, ws):
         self.open_ready.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 len(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 len(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()
     
@@ -126,4 +139,4 @@ def main():
 if __name__ == "__main__":
     main()
     
-    
+    

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-0.1.20251017.dist-info/METADATA

@@ -0,0 +1,47 @@
+Metadata-Version: 2.1
+Name: carm
+Version: 0.1.20251017
+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
+Description-Content-Type: text/markdown
+Requires-Dist: websocket-client
+
+# 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)
+```
+
+# Version update to pypy
+
+```
+python3 -m build
+```

carm-0.1.20251017.dist-info/RECORD

@@ -0,0 +1,9 @@
+carm/__init__.py,sha256=lfNjXYpO8FjQVunCqiaUzjsNUnyuhcyO8Je0ixh1RJY,24
+carm/carm.py,sha256=ZlLIm2fp0LgcVtSFHJTTbXTSFfFF4VfcNeLTOQH0s1g,18202
+carm/carm_dds.py,sha256=eHKOvMkdB-GdHweCN3RA2V2eJ06y3HBdgWNZYehXL2g,5720
+carm/carm_ros2.py,sha256=nox040kSIjpwT9s-crH9D0yGYvFPNfkWNrzj4tqf4I8,3766
+carm-0.1.20251017.dist-info/METADATA,sha256=ZB4PIprra2K5ouRua9MIt6x6IGPCZm-w5OWDV7cCohE,850
+carm-0.1.20251017.dist-info/WHEEL,sha256=iAkIy5fosb7FzIOwONchHf19Qu7_1wCWyFNR5gu9nU0,91
+carm-0.1.20251017.dist-info/entry_points.txt,sha256=qsJWC39p-s4UO3KZ8BfV2hikeMX693mahkYbR3w67Lk,76
+carm-0.1.20251017.dist-info/top_level.txt,sha256=nZ1bTssUAnAqc2CMka3erGx_2LsdZrSkqtjNf9Ce_d8,5
+carm-0.1.20251017.dist-info/RECORD,,

carm-0.0.20250911.dist-info/METADATA

@@ -1,11 +0,0 @@
-Metadata-Version: 2.1
-Name: carm
-Version: 0.0.20250911
-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-0.0.20250911.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,,