dora-piper 0.3.6__tar.gz → 0.3.9__tar.gz

dora_piper-0.3.9/PKG-INFO

@@ -0,0 +1,21 @@
+Metadata-Version: 2.2
+Name: dora-piper
+Version: 0.3.9
+Summary: Dora Node for using Agilex piper
+Author-email: Haixuan Xavier Tao <tao.xavier@outlook.com>
+License: MIT
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+Requires-Dist: dora-rs>=0.3.6
+Requires-Dist: piper_sdk>=0.0.8
+Requires-Dist: numpy<2.0.0
+
+# Dora Node (Experimental) to communicate with Agilex Piper SDK
+
+This node is used to communicate with piper.
+
+Make sure to follow both the setup script and installation script from https://github.com/agilexrobotics/piper_sdk
+
+# To setup the arm
+
+Make sure that the can bus is activated for both arm and leader arms are not connected.

{dora_piper-0.3.6 → dora_piper-0.3.9}/dora_piper/__init__.py

@@ -5,7 +5,7 @@ readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.m
 
 # Read the content of the README file
 try:
-    with open(readme_path, "r", encoding="utf-8") as f:
+    with open(readme_path, encoding="utf-8") as f:
         __doc__ = f.read()
 except FileNotFoundError:
     __doc__ = "README file not found."

{dora_piper-0.3.6 → dora_piper-0.3.9}/dora_piper/main.py

@@ -1,18 +1,16 @@
-from piper_sdk import C_PiperInterface
-from dora import Node
-import pyarrow as pa
 import os
 import time
 
-TEACH_MODE = (
-    os.getenv("TEACH_MODE", "False") == "True"
-    or os.getenv("TEACH_MODE", "False") == "true"
-)
+import numpy as np
+import pyarrow as pa
+from dora import Node
+from piper_sdk import C_PiperInterface
+
+TEACH_MODE = os.getenv("TEACH_MODE", "False") in ["True", "true"]
 
 
 def enable_fun(piper: C_PiperInterface):
-    """
-    使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序
+    """使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序
     """
     enable_flag = False
     # 设置超时时间（秒）
@@ -32,8 +30,6 @@ def enable_fun(piper: C_PiperInterface):
             and piper.GetArmLowSpdInfoMsgs().motor_6.foc_status.driver_enable_status
         )
         print("使能状态:", enable_flag)
-        piper.EnableArm(7)
-        piper.GripperCtrl(0, 1000, 0x01, 0)
         print("--------------------")
         # 检查是否超过超时时间
         if elapsed_time > timeout:
@@ -44,8 +40,7 @@ def enable_fun(piper: C_PiperInterface):
         time.sleep(1)
     if elapsed_time_flag:
         print("程序自动使能超时,退出程序")
-        print("If you have this issue, you should probably restart your computer")
-        exit(0)
+        raise ConnectionError("程序自动使能超时,退出程序")
 
 
 def main():
@@ -54,35 +49,25 @@ def main():
     piper = C_PiperInterface(CAN_BUS)
     piper.ConnectPort()
 
-    if TEACH_MODE is False:
+    if not TEACH_MODE:
         # piper.MotionCtrl_3(0, 0, 0, 0x00)#位置速度模式
         piper.EnableArm(7)
         enable_fun(piper=piper)
-        piper.GripperCtrl(0, 1000, 0x01, 0)
+        piper.MotionCtrl_2(0x01, 0x01, 50, 0x00)
+        piper.JointCtrl(0, 0, 0, 0, 0, 0)
+        piper.GripperCtrl(abs(0), 1000, 0x01, 0)
+        piper.MotionCtrl_2(0x01, 0x01, 50, 0x00)
+        time.sleep(5)
+
     factor = 57324.840764  # 1000*180/3.14
-    time.sleep(2)
     node = Node()
 
     for event in node:
         if event["type"] == "INPUT":
-            if event["id"] != "action":
-                joint = piper.GetArmJointMsgs()
-                gripper = piper.GetArmGripperMsgs()
-
-                joint_value = []
-                joint_value += [joint.joint_state.joint_1.real / factor]
-                joint_value += [joint.joint_state.joint_2.real / factor]
-                joint_value += [joint.joint_state.joint_3.real / factor]
-                joint_value += [joint.joint_state.joint_4.real / factor]
-                joint_value += [joint.joint_state.joint_5.real / factor]
-                joint_value += [joint.joint_state.joint_6.real / factor]
-                joint_value += [gripper.gripper_state.grippers_angle / 1000 / 1000 / 4]
-
-                node.send_output("jointstate", pa.array(joint_value, type=pa.float32()))
-            else:
-
+            if event["id"] == "joint_action":
+                if TEACH_MODE:
+                    continue
                 # Do not push to many commands to fast. Limiting it to 20Hz
-                # This is due to writing on a moving arm might fail the can bus.
                 if time.time() - elapsed_time > 0.05:
                     elapsed_time = time.time()
                 else:
@@ -95,15 +80,75 @@ def main():
                 joint_3 = round(position[3] * factor)
                 joint_4 = round(position[4] * factor)
                 joint_5 = round(position[5] * factor)
-                joint_6 = round(position[6] * 1000 * 1000 * 12)
+                joint_6 = round(position[6] * 1000 * 100)
 
                 piper.MotionCtrl_2(0x01, 0x01, 50, 0x00)
                 piper.JointCtrl(joint_0, joint_1, joint_2, joint_3, joint_4, joint_5)
                 piper.GripperCtrl(abs(joint_6), 1000, 0x01, 0)
                 piper.MotionCtrl_2(0x01, 0x01, 50, 0x00)
-        elif event["type"] == "STOP":
 
-            # Waiting for the arm to stop moving before stopping the node
+            elif event["id"] == "eef_action":
+                if TEACH_MODE:
+                    continue
+                # Do not push to many commands to fast. Limiting it to 20Hz
+                if time.time() - elapsed_time > 0.05:
+                    elapsed_time = time.time()
+                else:
+                    continue
+
+                position = event["value"].to_numpy()
+                piper.MotionCtrl_2(0x01, 0x01, 50, 0x00)
+                piper.EndPoseCtrl(
+                    position[0] * 1000 * 1000,
+                    position[1] * 1000 * 1000,
+                    position[2] * 1000 * 1000,
+                    position[3] * 1000 / (2 * np.pi) * 360,
+                    position[4] * 1000 / (2 * np.pi) * 360,
+                    position[5] * 1000 / (2 * np.pi) * 360,
+                )
+                piper.GripperCtrl(abs(position[6] * 1000 * 100), 1000, 0x01, 0)
+                piper.MotionCtrl_2(0x01, 0x01, 50, 0x00)
+
+            else:
+                joint = piper.GetArmJointMsgs()
+
+                joint_value = []
+                joint_value += [joint.joint_state.joint_1.real / factor]
+                joint_value += [joint.joint_state.joint_2.real / factor]
+                joint_value += [joint.joint_state.joint_3.real / factor]
+                joint_value += [joint.joint_state.joint_4.real / factor]
+                joint_value += [joint.joint_state.joint_5.real / factor]
+                joint_value += [joint.joint_state.joint_6.real / factor]
+
+                gripper = piper.GetArmGripperMsgs()
+                joint_value += [gripper.gripper_state.grippers_angle / 1000 / 100]
+
+                node.send_output("jointstate", pa.array(joint_value, type=pa.float32()))
+
+                position = piper.GetArmEndPoseMsgs()
+                position_value = []
+                position_value += [position.end_pose.X_axis * 0.001 * 0.001]
+                position_value += [position.end_pose.Y_axis * 0.001 * 0.001]
+                position_value += [position.end_pose.Z_axis * 0.001 * 0.001]
+                position_value += [position.end_pose.RX_axis * 0.001 / 360 * 2 * np.pi]
+                position_value += [position.end_pose.RY_axis * 0.001 / 360 * 2 * np.pi]
+                position_value += [position.end_pose.RZ_axis * 0.001 / 360 * 2 * np.pi]
+
+                node.send_output("pose", pa.array(position_value, type=pa.float32()))
+                node.send_output(
+                    "gripper",
+                    pa.array(
+                        [gripper.gripper_state.grippers_angle / 1000 / 100],
+                        type=pa.float32(),
+                    ),
+                )
+
+        elif event["type"] == "STOP":
+            if not TEACH_MODE:
+                piper.MotionCtrl_2(0x01, 0x01, 50, 0x00)
+                piper.JointCtrl(0, 0, 0, 0, 0, 0)
+                piper.GripperCtrl(abs(0), 1000, 0x01, 0)
+                piper.MotionCtrl_2(0x01, 0x01, 50, 0x00)
             time.sleep(5)
             break
 

dora_piper-0.3.9/dora_piper.egg-info/PKG-INFO

@@ -0,0 +1,21 @@
+Metadata-Version: 2.2
+Name: dora-piper
+Version: 0.3.9
+Summary: Dora Node for using Agilex piper
+Author-email: Haixuan Xavier Tao <tao.xavier@outlook.com>
+License: MIT
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+Requires-Dist: dora-rs>=0.3.6
+Requires-Dist: piper_sdk>=0.0.8
+Requires-Dist: numpy<2.0.0
+
+# Dora Node (Experimental) to communicate with Agilex Piper SDK
+
+This node is used to communicate with piper.
+
+Make sure to follow both the setup script and installation script from https://github.com/agilexrobotics/piper_sdk
+
+# To setup the arm
+
+Make sure that the can bus is activated for both arm and leader arms are not connected.

dora_piper-0.3.9/dora_piper.egg-info/SOURCES.txt

@@ -0,0 +1,11 @@
+README.md
+pyproject.toml
+dora_piper/__init__.py
+dora_piper/main.py
+dora_piper.egg-info/PKG-INFO
+dora_piper.egg-info/SOURCES.txt
+dora_piper.egg-info/dependency_links.txt
+dora_piper.egg-info/entry_points.txt
+dora_piper.egg-info/requires.txt
+dora_piper.egg-info/top_level.txt
+tests/test_piper.py

dora_piper-0.3.9/dora_piper.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

dora_piper-0.3.9/dora_piper.egg-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+dora-piper = dora_piper.main:main

dora_piper-0.3.9/dora_piper.egg-info/requires.txt

@@ -0,0 +1,3 @@
+dora-rs>=0.3.6
+piper_sdk>=0.0.8
+numpy<2.0.0

dora_piper-0.3.9/dora_piper.egg-info/top_level.txt

@@ -0,0 +1 @@
+dora_piper

dora_piper-0.3.9/pyproject.toml

@@ -0,0 +1,16 @@
+[project]
+name = "dora-piper"
+version = "0.3.9"
+authors = [{ name = "Haixuan Xavier Tao", email = "tao.xavier@outlook.com" }]
+description = "Dora Node for using Agilex piper"
+license = { text = "MIT" }
+readme = "README.md"
+requires-python = ">=3.8"
+
+dependencies = ["dora-rs >= 0.3.6", "piper_sdk >= 0.0.8", "numpy < 2.0.0"]
+
+[dependency-groups]
+dev = ["pytest >=8.1.1", "ruff >=0.9.1"]
+
+[project.scripts]
+dora-piper = "dora_piper.main:main"

dora_piper-0.3.9/setup.cfg

@@ -0,0 +1,4 @@
+[egg_info]
+tag_build = 
+tag_date = 0
+

dora_piper-0.3.9/tests/test_piper.py

@@ -0,0 +1,5 @@
+def test_import_main():
+    from piper_sdk import C_PiperInterface
+
+    ## Test piper installation
+    assert C_PiperInterface

dora_piper-0.3.6/PKG-INFO

@@ -1,29 +0,0 @@
-Metadata-Version: 2.1
-Name: dora-piper
-Version: 0.3.6
-Summary: Dora Node for using Agilex piper
-Author: Haixuan Xavier Tao
-Author-email: tao.xavier@outlook.com
-Requires-Python: >=3.7,<4.0
-Classifier: Programming Language :: Python :: 3
-Classifier: Programming Language :: Python :: 3.7
-Classifier: Programming Language :: Python :: 3.8
-Classifier: Programming Language :: Python :: 3.9
-Classifier: Programming Language :: Python :: 3.10
-Classifier: Programming Language :: Python :: 3.11
-Classifier: Programming Language :: Python :: 3.12
-Classifier: Programming Language :: Python :: 3.13
-Requires-Dist: dora-rs (>=0.3.6,<0.4.0)
-Requires-Dist: piper_sdk (>=0.0.7,<0.0.8)
-Description-Content-Type: text/markdown
-
-# Dora Node (Experimental) to communicate with Agilex Piper SDK
-
-This node is used to communicate with piper.
-
-Make sure to follow both the setup script and installation script from https://github.com/agilexrobotics/piper_sdk
-
-# To setup the arm
-
-Make sure that the can bus is activated for both arm and leader arms are not connected.
-

dora_piper-0.3.6/pyproject.toml

@@ -1,21 +0,0 @@
-[tool.poetry]
-name = "dora-piper"
-version = "0.3.6"
-authors = ["Haixuan Xavier Tao <tao.xavier@outlook.com>"]
-description = "Dora Node for using Agilex piper"
-readme = "README.md"
-
-packages = [{ include = "dora_piper" }]
-
-[tool.poetry.dependencies]
-dora-rs = "^0.3.6"
-python = "^3.7"
-piper_sdk = "^0.0.7"
-
-
-[tool.poetry.scripts]
-dora-piper = "dora_piper.main:main"
-
-[build-system]
-requires = ["poetry-core>=1.8.0"]
-build-backend = "poetry.core.masonry.api"