dora-reachy2 0.0.0__py3-none-any.whl → 0.3.10__py3-none-any.whl

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Files changed (9) hide show
  1. dora_reachy2/camera.py +1 -1
  2. dora_reachy2/left_arm.py +14 -4
  3. dora_reachy2/right_arm.py +14 -4
  4. {dora_reachy2-0.0.0.dist-info → dora_reachy2-0.3.10.dist-info}/METADATA +2 -2
  5. dora_reachy2-0.3.10.dist-info/RECORD +11 -0
  6. {dora_reachy2-0.0.0.dist-info → dora_reachy2-0.3.10.dist-info}/WHEEL +1 -1
  7. dora_reachy2-0.0.0.dist-info/RECORD +0 -11
  8. {dora_reachy2-0.0.0.dist-info → dora_reachy2-0.3.10.dist-info}/entry_points.txt +0 -0
  9. {dora_reachy2-0.0.0.dist-info → dora_reachy2-0.3.10.dist-info}/top_level.txt +0 -0
dora_reachy2/camera.py CHANGED
@@ -10,7 +10,7 @@ from reachy2_sdk.media.camera import CameraView
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  def main():
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  ROBOT_IP = os.getenv("ROBOT_IP", "10.42.0.80")
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- for _ in range(5):
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+ for _ in range(10):
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  reachy = ReachySDK(ROBOT_IP)
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  try:
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  reachy.cameras.teleop.get_frame(view=CameraView.LEFT)
dora_reachy2/left_arm.py CHANGED
@@ -78,14 +78,14 @@ def manage_gripper(reachy, gripper, grasp):
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  return True
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  if gripper == 0.0:
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  reachy.l_arm.gripper.close()
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- time.sleep(0.5)
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+ time.sleep(0.3)
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  if grasp:
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  half_open = reachy.l_arm.gripper.get_current_opening() > 2
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  if not half_open:
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  return False
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  elif gripper == 100.0:
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  reachy.l_arm.gripper.open()
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- time.sleep(0.5)
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+ time.sleep(0.3)
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  return True
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@@ -133,7 +133,12 @@ def main():
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  )
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  else:
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  for joint, gripper in joint_values:
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- reachy.l_arm.goto(joint, duration=duration, wait=wait)
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+ reachy.l_arm.goto(
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+ joint,
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+ duration=duration,
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+ wait=wait,
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+ interpolation_mode="linear",
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+ )
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  response_gripper = manage_gripper(reachy, gripper, grasp)
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  if not response_gripper:
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  node.send_output(
@@ -151,7 +156,12 @@ def main():
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  joints = value[:7].tolist()
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  gripper = value[7]
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- reachy.l_arm.goto(joints, duration=duration, wait=wait)
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+ reachy.l_arm.goto(
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+ joints,
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+ duration=duration,
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+ wait=wait,
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+ interpolation_mode="linear",
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+ )
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  manage_gripper(reachy, gripper, grasp)
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  node.send_output("response_l_arm", pa.array([True]))
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dora_reachy2/right_arm.py CHANGED
@@ -77,14 +77,14 @@ def manage_gripper(reachy, gripper, grasp):
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  return True
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  if gripper == 0.0:
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  reachy.r_arm.gripper.close()
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- time.sleep(0.5)
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+ time.sleep(0.3)
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  if grasp:
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  half_open = reachy.r_arm.gripper.get_current_opening() > 2
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  if not half_open:
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  return False
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  elif gripper == 100.0:
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  reachy.r_arm.gripper.open()
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- time.sleep(0.5)
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+ time.sleep(0.3)
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  return True
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@@ -132,7 +132,12 @@ def main():
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  )
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  else:
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  for joint, gripper in joint_values:
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- reachy.r_arm.goto(joint, duration=duration, wait=wait)
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+ reachy.r_arm.goto(
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+ joint,
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+ duration=duration,
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+ wait=wait,
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+ interpolation_mode="linear",
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+ )
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  response_gripper = manage_gripper(reachy, gripper, grasp)
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  if not response_gripper:
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  node.send_output(
@@ -150,7 +155,12 @@ def main():
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  joints = value[:7].tolist()
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  gripper = value[7]
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- reachy.r_arm.goto(joints, duration=duration, wait=wait)
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+ reachy.r_arm.goto(
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+ joints,
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+ duration=duration,
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+ wait=wait,
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+ interpolation_mode="linear",
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+ )
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  manage_gripper(reachy, gripper, grasp)
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  node.send_output("response_r_arm", pa.array([True]))
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{dora_reachy2-0.0.0.dist-info → dora_reachy2-0.3.10.dist-info}/METADATA RENAMED
@@ -1,12 +1,12 @@
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  Metadata-Version: 2.2
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  Name: dora-reachy2
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- Version: 0.0.0
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+ Version: 0.3.10
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  Summary: dora-reachy2
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  Author-email: Your Name <email@email.com>
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  License: MIT
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  Requires-Python: >=3.10
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  Description-Content-Type: text/markdown
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- Requires-Dist: dora-rs>=0.3.6
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+ Requires-Dist: dora-rs>=0.3.9
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  Requires-Dist: reachy2-sdk==1.0.7
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  Requires-Dist: reachy2-sdk-api==1.0.15
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  Requires-Dist: scipy
dora_reachy2-0.3.10.dist-info/RECORD ADDED
@@ -0,0 +1,11 @@
1
+ dora_reachy2/__init__.py,sha256=HuSK3dnyI9Pb5QAuaKFwQQ3J5SIZnLcKHPJO0norGzc,353
2
+ dora_reachy2/camera.py,sha256=zMa2RPY35niCWepdi5aq9jsn1kwX6S7hlVrEj1Xa4iA,3065
3
+ dora_reachy2/head.py,sha256=P2PmtaHLX0dSNX2NNlmpMb2m1cCAvAFIygWFk2reSXQ,2042
4
+ dora_reachy2/left_arm.py,sha256=WIdbpT8nXBuELuHoNUD5Xq8k59Xk4a63OCtdgXANa2E,5511
5
+ dora_reachy2/mobile_base.py,sha256=a7Kj1Zsj-MIvOcDBXMj9gRqLq6NU4xkx5hU4bnWWdfo,860
6
+ dora_reachy2/right_arm.py,sha256=tGYd9pgl7GNVtEtsNnP2VHPSW65roBa-DJAPaUq87dk,5507
7
+ dora_reachy2-0.3.10.dist-info/METADATA,sha256=Kfq3reVW1xzYsY6hg98-HrFFMUZ7mn_AYblUnourpoo,758
8
+ dora_reachy2-0.3.10.dist-info/WHEEL,sha256=jB7zZ3N9hIM9adW7qlTAyycLYW9npaWKLRzaoVcLKcM,91
9
+ dora_reachy2-0.3.10.dist-info/entry_points.txt,sha256=1wj96u7QDcTPy9VN2xxV0HD2Og8GRzyT7f8wmMWD9Jc,269
10
+ dora_reachy2-0.3.10.dist-info/top_level.txt,sha256=KytY6Rdfj03RnwbYoeaA4xV1QirpxuJD66BodLTs_pM,13
11
+ dora_reachy2-0.3.10.dist-info/RECORD,,
{dora_reachy2-0.0.0.dist-info → dora_reachy2-0.3.10.dist-info}/WHEEL RENAMED
@@ -1,5 +1,5 @@
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  Wheel-Version: 1.0
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- Generator: setuptools (75.8.0)
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+ Generator: setuptools (75.8.2)
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  Root-Is-Purelib: true
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  Tag: py3-none-any
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5
 
dora_reachy2-0.0.0.dist-info/RECORD DELETED
@@ -1,11 +0,0 @@
1
- dora_reachy2/__init__.py,sha256=HuSK3dnyI9Pb5QAuaKFwQQ3J5SIZnLcKHPJO0norGzc,353
2
- dora_reachy2/camera.py,sha256=qGQsmEVWbXNP_6mSiaIHqTlPOHOvHfkbE4CLfvubWdc,3064
3
- dora_reachy2/head.py,sha256=P2PmtaHLX0dSNX2NNlmpMb2m1cCAvAFIygWFk2reSXQ,2042
4
- dora_reachy2/left_arm.py,sha256=B7Yby0mBDGYl8V4dBYuhkv9W5VyjAMXwgz_RnjRIyi4,5155
5
- dora_reachy2/mobile_base.py,sha256=a7Kj1Zsj-MIvOcDBXMj9gRqLq6NU4xkx5hU4bnWWdfo,860
6
- dora_reachy2/right_arm.py,sha256=KZz8MMK-zkPkdBURC9v903-iaddcRENm-ITsJQBSiG4,5151
7
- dora_reachy2-0.0.0.dist-info/METADATA,sha256=98z3gsfUBpLQjlfvAY8rqumzj2Ph7PNMngOFm6qGOx8,757
8
- dora_reachy2-0.0.0.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
9
- dora_reachy2-0.0.0.dist-info/entry_points.txt,sha256=1wj96u7QDcTPy9VN2xxV0HD2Og8GRzyT7f8wmMWD9Jc,269
10
- dora_reachy2-0.0.0.dist-info/top_level.txt,sha256=KytY6Rdfj03RnwbYoeaA4xV1QirpxuJD66BodLTs_pM,13
11
- dora_reachy2-0.0.0.dist-info/RECORD,,