crisp-python 3.0.0__tar.gz → 3.1.0__tar.gz

{crisp_python-3.0.0/crisp_python.egg-info → crisp_python-3.1.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: crisp-python
-Version: 3.0.0
+Version: 3.1.0
 Summary: Simple python interface to control robots that use crisp_controllers and other ROS2 components.
 Project-URL: Homepage, https://utiasDSL.github.io/crisp_controllers/
 Requires-Python: >=3.11

crisp_python-3.1.0/crisp_py/config/robots/panda.yaml

@@ -0,0 +1 @@
+robot_type: panda

{crisp_python-3.0.0 → crisp_python-3.1.0}/crisp_py/robot/robot_config.py

@@ -125,6 +125,41 @@ class FrankaConfig(RobotConfig):
     # target_frame: str = "fr3_link8"
 
 
+@dataclass
+class PandaConfig(RobotConfig):
+    """Configuration specific to Franka Emika Panda robots.
+
+    Provides default values for frame names, joint names, and home configuration
+    specifically for Franka Emika Panda robots.
+    """
+
+    joint_names: list = field(
+        default_factory=lambda: [
+            "panda_joint1",
+            "panda_joint2",
+            "panda_joint3",
+            "panda_joint4",
+            "panda_joint5",
+            "panda_joint6",
+            "panda_joint7",
+        ]
+    )
+    home_config: list = field(
+        default_factory=lambda: [
+            0,
+            -np.pi / 4,
+            0,
+            -3 * np.pi / 4,
+            0,
+            np.pi / 2,
+            np.pi / 4,
+        ]
+    )
+    base_frame: str = "base"
+    target_frame: str = "panda_hand_tcp"
+    # target_frame: str = "panda_link8"
+
+
 @dataclass
 class KinovaConfig(RobotConfig):
     """Configuration specific to Kinova robots.
@@ -240,6 +275,8 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:  # noqa: ANN003
 
     if robot_type == "franka":
         return FrankaConfig(**kwargs)
+    elif robot_type == "panda":
+        return PandaConfig(**kwargs)
     elif robot_type == "kinova":
         return KinovaConfig(**kwargs)
     elif robot_type == "iiwa":
@@ -248,5 +285,5 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:  # noqa: ANN003
         return SO101Config(**kwargs)
     else:
         raise ValueError(
-            f"Unsupported robot type: {robot_type}. Supported types: franka, kinova, iiwa, so101"
+            f"Unsupported robot type: {robot_type}. Supported types: franka, panda, kinova, iiwa, so101"
         )

{crisp_python-3.0.0 → crisp_python-3.1.0}/crisp_py/utils/geometry.py

@@ -51,7 +51,7 @@ class Pose:
     def from_ros_msg(cls, msg: PoseStamped) -> "Pose":
         """Create Pose from ROS PoseStamped message."""
         position = np.array([msg.pose.position.x, msg.pose.position.y, msg.pose.position.z])
-        orientation = Rotation.from_quat(
+        quat = np.array(
             [
                 msg.pose.orientation.x,
                 msg.pose.orientation.y,
@@ -59,6 +59,9 @@ class Pose:
                 msg.pose.orientation.w,
             ]
         )
+        quat_x_sign = np.sign(quat[0]) if quat[0] != 0 else 1.0
+        quat *= quat_x_sign  # Ensure a consistent quaternion sign
+        orientation = Rotation.from_quat(quat)
         return cls(position, orientation)
 
     @classmethod
@@ -67,7 +70,7 @@ class Pose:
         position = np.array(
             [msg.transform.translation.x, msg.transform.translation.y, msg.transform.translation.z]
         )
-        orientation = Rotation.from_quat(
+        quat = np.array(
             [
                 msg.transform.rotation.x,
                 msg.transform.rotation.y,
@@ -75,6 +78,9 @@ class Pose:
                 msg.transform.rotation.w,
             ]
         )
+        quat_x_sign = np.sign(quat[0]) if quat[0] != 0 else 1.0
+        quat *= quat_x_sign  # Ensure a consistent quaternion sign
+        orientation = Rotation.from_quat(quat)
         return cls(position, orientation)
 
     def to_ros_msg(self, frame_id: str, stamp: TimeMsg) -> PoseStamped:

{crisp_python-3.0.0 → crisp_python-3.1.0/crisp_python.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: crisp-python
-Version: 3.0.0
+Version: 3.1.0
 Summary: Simple python interface to control robots that use crisp_controllers and other ROS2 components.
 Project-URL: Homepage, https://utiasDSL.github.io/crisp_controllers/
 Requires-Python: >=3.11

{crisp_python-3.0.0 → crisp_python-3.1.0}/crisp_python.egg-info/SOURCES.txt

@@ -31,6 +31,7 @@ crisp_py/config/grippers/trigger_left.yaml
 crisp_py/config/robots/fr3.yaml
 crisp_py/config/robots/fr3_left.yaml
 crisp_py/config/robots/fr3_right.yaml
+crisp_py/config/robots/panda.yaml
 crisp_py/config/sensors/anyskin_sensor.yaml
 crisp_py/config/sensors/force_torque_sensor.yaml
 crisp_py/config/sensors/mock_force_torque_sensor.yaml

{crisp_python-3.0.0 → crisp_python-3.1.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "crisp-python"
-version = "3.0.0"
+version = "3.1.0"
 description = "Simple python interface to control robots that use crisp_controllers and other ROS2 components."
 readme = "README.md"
 license-files = ["LICENSE.md"]