dora-reachy2 0.3.10__py3-none-any.whl → 0.3.11__py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (12) hide show
  1. dora_reachy2/__init__.py +2 -0
  2. dora_reachy2/camera.py +8 -5
  3. dora_reachy2/head.py +9 -6
  4. dora_reachy2/left_arm.py +11 -6
  5. dora_reachy2/mobile_base.py +5 -2
  6. dora_reachy2/right_arm.py +8 -3
  7. {dora_reachy2-0.3.10.dist-info → dora_reachy2-0.3.11.dist-info}/METADATA +2 -2
  8. dora_reachy2-0.3.11.dist-info/RECORD +11 -0
  9. {dora_reachy2-0.3.10.dist-info → dora_reachy2-0.3.11.dist-info}/WHEEL +1 -1
  10. dora_reachy2-0.3.10.dist-info/RECORD +0 -11
  11. {dora_reachy2-0.3.10.dist-info → dora_reachy2-0.3.11.dist-info}/entry_points.txt +0 -0
  12. {dora_reachy2-0.3.10.dist-info → dora_reachy2-0.3.11.dist-info}/top_level.txt +0 -0
dora_reachy2/__init__.py CHANGED
@@ -1,3 +1,5 @@
1
+ """TODO: Add docstring."""
2
+
1
3
  import os
2
4
 
3
5
  # Define the path to the README file relative to the package directory
dora_reachy2/camera.py CHANGED
@@ -1,3 +1,5 @@
1
+ """TODO: Add docstring."""
2
+
1
3
  import os
2
4
 
3
5
  import numpy as np
@@ -8,10 +10,11 @@ from reachy2_sdk.media.camera import CameraView
8
10
 
9
11
 
10
12
  def main():
11
- ROBOT_IP = os.getenv("ROBOT_IP", "10.42.0.80")
13
+ """TODO: Add docstring."""
14
+ robot_ip = os.getenv("ROBOT_IP", "10.42.0.80")
12
15
 
13
16
  for _ in range(10):
14
- reachy = ReachySDK(ROBOT_IP)
17
+ reachy = ReachySDK(robot_ip)
15
18
  try:
16
19
  reachy.cameras.teleop.get_frame(view=CameraView.LEFT)
17
20
  params = reachy.cameras.depth.get_parameters(view=CameraView.DEPTH)
@@ -25,7 +28,7 @@ def main():
25
28
 
26
29
  reachy.cameras.teleop.get_frame(view=CameraView.LEFT)
27
30
  params = reachy.cameras.depth.get_parameters(view=CameraView.DEPTH)
28
- height, width, _distortion_model, _D, K, _R, _P = params
31
+ height, width, _distortion_model, _d, k, _r, _p = params
29
32
 
30
33
  node = Node()
31
34
 
@@ -87,8 +90,8 @@ def main():
87
90
  metadata={
88
91
  "width": width,
89
92
  "height": height,
90
- "focal": [int(K[0, 0]), int(K[1, 1])],
91
- "resolution": [int(K[0, 2]), int(K[1, 2])],
93
+ "focal": [int(k[0, 0]), int(k[1, 1])],
94
+ "resolution": [int(k[0, 2]), int(k[1, 2])],
92
95
  },
93
96
  )
94
97
 
dora_reachy2/head.py CHANGED
@@ -1,3 +1,5 @@
1
+ """TODO: Add docstring."""
2
+
1
3
  import os
2
4
 
3
5
  import numpy as np
@@ -6,17 +8,18 @@ from reachy2_sdk import ReachySDK
6
8
 
7
9
 
8
10
  def main():
9
- ROBOT_IP = os.getenv("ROBOT_IP", "10.42.0.80")
11
+ """TODO: Add docstring."""
12
+ robot_ip = os.getenv("ROBOT_IP", "10.42.0.80")
10
13
 
11
14
  for _i in range(5):
12
- reachy = ReachySDK(ROBOT_IP)
15
+ reachy = ReachySDK(robot_ip)
13
16
 
14
17
  if reachy.head is not None:
15
18
  reachy.head.turn_on()
16
19
  reachy.head.goto([0, 0, 0])
17
20
  break
18
- FOV_H = 107
19
- FOV_V = 91
21
+ fov_h = 107
22
+ fov_v = 91
20
23
  resolution = [720, 960]
21
24
 
22
25
  roll, _pitch, yaw = reachy.head.get_current_positions()
@@ -34,8 +37,8 @@ def main():
34
37
  x_min + x_max
35
38
  ) / 2 - 10 # Deviate a bit to take into account the off centered camera
36
39
  y = (3 * y_min + y_max) / 4
37
- ry = (x - resolution[1] / 2) * FOV_H / 2 / resolution[1]
38
- rz = (y - resolution[0] / 2) * FOV_V / 2 / resolution[0]
40
+ ry = (x - resolution[1] / 2) * fov_h / 2 / resolution[1]
41
+ rz = (y - resolution[0] / 2) * fov_v / 2 / resolution[0]
39
42
  if np.abs(yaw) > 45 and yaw * -ry > 0:
40
43
  reachy.head.cancel_all_goto()
41
44
  roll, _pitch, yaw = reachy.head.get_current_positions()
dora_reachy2/left_arm.py CHANGED
@@ -1,3 +1,5 @@
1
+ """TODO: Add docstring."""
2
+
1
3
  import os
2
4
  import time
3
5
 
@@ -5,7 +7,7 @@ import numpy as np
5
7
  import pyarrow as pa
6
8
  from dora import Node
7
9
  from reachy2_sdk import ReachySDK
8
- from scipy.spatial.transform import Rotation as R
10
+ from scipy.spatial.transform import Rotation
9
11
 
10
12
  ROBOT_IP = os.getenv("ROBOT_IP", "10.42.0.80")
11
13
 
@@ -22,8 +24,9 @@ l_default_pose = [
22
24
 
23
25
 
24
26
  def l_arm_go_to_mixed_angles(reachy, x, y, z):
27
+ """TODO: Add docstring."""
25
28
  for theta in range(-80, -60, 10):
26
- r = R.from_euler("zyx", [0, theta, 0], degrees=True)
29
+ r = Rotation.from_euler("zyx", [0, theta, 0], degrees=True)
27
30
  transform = np.eye(4)
28
31
  transform[:3, :3] = r.as_matrix()
29
32
  transform[:3, 3] = [x, y, z]
@@ -38,7 +41,7 @@ def l_arm_go_to_mixed_angles(reachy, x, y, z):
38
41
 
39
42
  ## First try turning left
40
43
  pitch = -90
41
- r = R.from_euler("ZYX", (-yaw, 0, 0), degrees=True) * R.from_euler(
44
+ r = Rotation.from_euler("ZYX", (-yaw, 0, 0), degrees=True) * Rotation.from_euler(
42
45
  "ZYX",
43
46
  (0, pitch, 0),
44
47
  degrees=True,
@@ -67,11 +70,12 @@ def l_arm_go_to_mixed_angles(reachy, x, y, z):
67
70
 
68
71
 
69
72
  def manage_gripper(reachy, gripper, grasp):
70
- if (gripper == 100 and reachy.r_arm.gripper.get_current_opening() == 100) or (
73
+ """TODO: Add docstring."""
74
+ if (gripper == 100 and reachy.l_arm.gripper.get_current_opening() == 100) or (
71
75
  gripper == 0.0
72
76
  and (
73
- reachy.r_arm.gripper.get_current_opening() < 98
74
- and reachy.r_arm.gripper.get_current_opening() > 2
77
+ reachy.l_arm.gripper.get_current_opening() < 98
78
+ and reachy.l_arm.gripper.get_current_opening() > 2
75
79
  )
76
80
  and grasp
77
81
  ):
@@ -90,6 +94,7 @@ def manage_gripper(reachy, gripper, grasp):
90
94
 
91
95
 
92
96
  def main():
97
+ """TODO: Add docstring."""
93
98
  reachy = ReachySDK(ROBOT_IP)
94
99
 
95
100
  if reachy.l_arm is not None:
dora_reachy2/mobile_base.py CHANGED
@@ -1,3 +1,5 @@
1
+ """TODO: Add docstring."""
2
+
1
3
  import os
2
4
  import time
3
5
 
@@ -8,9 +10,10 @@ from reachy2_sdk import ReachySDK
8
10
 
9
11
 
10
12
  def main():
11
- ROBOT_IP = os.getenv("ROBOT_IP", "10.42.0.80")
13
+ """TODO: Add docstring."""
14
+ robot_ip = os.getenv("ROBOT_IP", "10.42.0.80")
12
15
 
13
- reachy = ReachySDK(ROBOT_IP)
16
+ reachy = ReachySDK(robot_ip)
14
17
 
15
18
  if reachy.mobile_base is not None:
16
19
  reachy.mobile_base.turn_on()
dora_reachy2/right_arm.py CHANGED
@@ -1,3 +1,5 @@
1
+ """TODO: Add docstring."""
2
+
1
3
  import os
2
4
  import time
3
5
 
@@ -5,7 +7,7 @@ import numpy as np
5
7
  import pyarrow as pa
6
8
  from dora import Node
7
9
  from reachy2_sdk import ReachySDK
8
- from scipy.spatial.transform import Rotation as R
10
+ from scipy.spatial.transform import Rotation
9
11
 
10
12
  ROBOT_IP = os.getenv("ROBOT_IP", "10.42.0.80")
11
13
 
@@ -21,8 +23,9 @@ r_default_pose = [
21
23
 
22
24
 
23
25
  def r_arm_go_to_mixed_angles(reachy, x, y, z):
26
+ """TODO: Add docstring."""
24
27
  for theta in range(-80, -60, 10):
25
- r = R.from_euler("zyx", [0, theta, 0], degrees=True)
28
+ r = Rotation.from_euler("zyx", [0, theta, 0], degrees=True)
26
29
  transform = np.eye(4)
27
30
  transform[:3, :3] = r.as_matrix()
28
31
  transform[:3, 3] = [x, y, z]
@@ -37,7 +40,7 @@ def r_arm_go_to_mixed_angles(reachy, x, y, z):
37
40
 
38
41
  ## First try turning left
39
42
  pitch = -90
40
- r = R.from_euler("ZYX", (yaw, 0, 0), degrees=True) * R.from_euler(
43
+ r = Rotation.from_euler("ZYX", (yaw, 0, 0), degrees=True) * Rotation.from_euler(
41
44
  "ZYX",
42
45
  (0, pitch, 0),
43
46
  degrees=True,
@@ -66,6 +69,7 @@ def r_arm_go_to_mixed_angles(reachy, x, y, z):
66
69
 
67
70
 
68
71
  def manage_gripper(reachy, gripper, grasp):
72
+ """TODO: Add docstring."""
69
73
  if (gripper == 100 and reachy.r_arm.gripper.get_current_opening() == 100) or (
70
74
  gripper == 0.0
71
75
  and (
@@ -89,6 +93,7 @@ def manage_gripper(reachy, gripper, grasp):
89
93
 
90
94
 
91
95
  def main():
96
+ """TODO: Add docstring."""
92
97
  reachy = ReachySDK(ROBOT_IP)
93
98
 
94
99
  if reachy.r_arm is not None:
{dora_reachy2-0.3.10.dist-info → dora_reachy2-0.3.11.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
1
- Metadata-Version: 2.2
1
+ Metadata-Version: 2.4
2
2
  Name: dora-reachy2
3
- Version: 0.3.10
3
+ Version: 0.3.11
4
4
  Summary: dora-reachy2
5
5
  Author-email: Your Name <email@email.com>
6
6
  License: MIT
dora_reachy2-0.3.11.dist-info/RECORD ADDED
@@ -0,0 +1,11 @@
1
+ dora_reachy2/__init__.py,sha256=tF7WHhHiDweUUzyHsbmFe_ktphE08aA5j33E4ja1udA,381
2
+ dora_reachy2/camera.py,sha256=oucv6Q6mTVV1xqUxYwEidUSUv5Hrkq1TQ3-6poLTxSo,3124
3
+ dora_reachy2/head.py,sha256=V5SS30itBC49Jtjn4XAI1RHqvvQWY32u0_rR3szp7lA,2101
4
+ dora_reachy2/left_arm.py,sha256=FfRNzEKvn5DmuXEiownQ7oqymqQU4f2yLFTmF7-jFcM,5648
5
+ dora_reachy2/mobile_base.py,sha256=AHQ8l2D_-OJwjZOZ7RCPhdeoXCI7ufV6EW-GT0HucZ8,919
6
+ dora_reachy2/right_arm.py,sha256=zojY7kuYRFybW__u7I37NhxyiPZSqMEZ26UjsaMneBw,5644
7
+ dora_reachy2-0.3.11.dist-info/METADATA,sha256=m9l4Dj6yV6GIzrAYvyUDfAyH90zvhHYi3uRKdyKumXo,758
8
+ dora_reachy2-0.3.11.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
9
+ dora_reachy2-0.3.11.dist-info/entry_points.txt,sha256=1wj96u7QDcTPy9VN2xxV0HD2Og8GRzyT7f8wmMWD9Jc,269
10
+ dora_reachy2-0.3.11.dist-info/top_level.txt,sha256=KytY6Rdfj03RnwbYoeaA4xV1QirpxuJD66BodLTs_pM,13
11
+ dora_reachy2-0.3.11.dist-info/RECORD,,
{dora_reachy2-0.3.10.dist-info → dora_reachy2-0.3.11.dist-info}/WHEEL RENAMED
@@ -1,5 +1,5 @@
1
1
  Wheel-Version: 1.0
2
- Generator: setuptools (75.8.2)
2
+ Generator: setuptools (78.1.0)
3
3
  Root-Is-Purelib: true
4
4
  Tag: py3-none-any
5
5
 
dora_reachy2-0.3.10.dist-info/RECORD DELETED
@@ -1,11 +0,0 @@
1
- dora_reachy2/__init__.py,sha256=HuSK3dnyI9Pb5QAuaKFwQQ3J5SIZnLcKHPJO0norGzc,353
2
- dora_reachy2/camera.py,sha256=zMa2RPY35niCWepdi5aq9jsn1kwX6S7hlVrEj1Xa4iA,3065
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- 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,,