dora-piper 0.4.1__tar.gz

dora_piper-0.4.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: dora-piper
+Version: 0.4.1
+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>=0.3.9
+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-0.4.1/README.md

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+# 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-0.4.1/dora_piper/__init__.py

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+"""TODO: Add docstring."""
+
+import os
+
+# Define the path to the README file relative to the package directory
+readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
+
+# Read the content of the README file
+try:
+    with open(readme_path, encoding="utf-8") as f:
+        __doc__ = f.read()
+except FileNotFoundError:
+    __doc__ = "README file not found."

dora_piper-0.4.1/dora_piper/main.py

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+"""TODO: Add docstring."""
+
+import os
+import time
+
+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."""
+    enable_flag = False
+    # 设置超时时间（秒）
+    timeout = 5
+    # 记录进入循环前的时间
+    start_time = time.time()
+    elapsed_time_flag = False
+    while not (enable_flag):
+        elapsed_time = time.time() - start_time
+        print("--------------------")
+        enable_flag = (
+            piper.GetArmLowSpdInfoMsgs().motor_1.foc_status.driver_enable_status
+            and piper.GetArmLowSpdInfoMsgs().motor_2.foc_status.driver_enable_status
+            and piper.GetArmLowSpdInfoMsgs().motor_3.foc_status.driver_enable_status
+            and piper.GetArmLowSpdInfoMsgs().motor_4.foc_status.driver_enable_status
+            and piper.GetArmLowSpdInfoMsgs().motor_5.foc_status.driver_enable_status
+            and piper.GetArmLowSpdInfoMsgs().motor_6.foc_status.driver_enable_status
+        )
+        print("使能状态:", enable_flag)
+        print("--------------------")
+        # 检查是否超过超时时间
+        if elapsed_time > timeout:
+            print("超时....")
+            elapsed_time_flag = True
+            enable_flag = True
+            break
+        time.sleep(1)
+    if elapsed_time_flag:
+        print("程序自动使能超时,退出程序")
+        raise ConnectionError("程序自动使能超时,退出程序")
+
+
+def main():
+    """TODO: Add docstring."""
+    elapsed_time = time.time()
+    can_bus = os.getenv("CAN_BUS", "")
+    piper = C_PiperInterface(can_bus)
+    piper.ConnectPort()
+
+    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.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
+    node = Node()
+
+    for event in node:
+        if event["type"] == "INPUT":
+            if event["id"] == "joint_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()
+                joint_0 = round(position[0] * factor)
+                joint_1 = round(position[1] * factor)
+                joint_2 = round(position[2] * factor)
+                joint_3 = round(position[3] * factor)
+                joint_4 = round(position[4] * factor)
+                joint_5 = round(position[5] * factor)
+                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["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
+
+
+if __name__ == "__main__":
+    main()

dora_piper-0.4.1/dora_piper.egg-info/PKG-INFO

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+Metadata-Version: 2.4
+Name: dora-piper
+Version: 0.4.1
+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>=0.3.9
+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-0.4.1/dora_piper.egg-info/SOURCES.txt

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+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-0.4.1/dora_piper.egg-info/dependency_links.txt

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+

dora_piper-0.4.1/dora_piper.egg-info/entry_points.txt

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+[console_scripts]
+dora-piper = dora_piper.main:main

dora_piper-0.4.1/dora_piper.egg-info/requires.txt

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+dora-rs>=0.3.9
+piper_sdk>=0.0.8
+numpy<2.0.0

dora_piper-0.4.1/dora_piper.egg-info/top_level.txt

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+dora_piper

dora_piper-0.4.1/pyproject.toml

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+[project]
+name = "dora-piper"
+version = "0.4.1"
+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 >= 0.3.9", "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"
+
+[tool.ruff.lint]
+extend-select = [
+  "D",    # pydocstyle
+  "UP",   # Ruff's UP rule
+  "PERF", # Ruff's PERF rule
+  "RET",  # Ruff's RET rule
+  "RSE",  # Ruff's RSE rule
+  "NPY",  # Ruff's NPY rule
+  "N",    # Ruff's N rule
+  "I",    # Ruff's I rule
+]

dora_piper-0.4.1/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

dora_piper-0.4.1/tests/test_piper.py

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+"""TODO: Add docstring."""
+
+def test_import_main():
+    """TODO: Add docstring."""
+    from piper_sdk import C_PiperInterface
+
+    ## Test piper installation
+    assert C_PiperInterface