hackerbot 0.2.0__py3-none-any.whl → 0.3.0__py3-none-any.whl

hackerbot/head/__init__.py

@@ -6,7 +6,7 @@
 #
 # Created By: Allen Chien
 # Created:    April 2025
-# Updated:    2025.04.07
+# Updated:    2025.04.20
 #
 # This module contains the Head component of the hackerbot
 #
@@ -17,6 +17,9 @@
 
 from hackerbot.utils.hackerbot_helper import HackerbotHelper
 from .eyes import Eyes
+import sounddevice as sd
+from piper.voice import PiperVoice
+import numpy as np
 
 class Head():
     def __init__(self, controller: HackerbotHelper):
@@ -58,4 +61,20 @@ class Head():
             return True
         except Exception as e:
             self._controller.log_error(f"Error in head:set_idle_mode: {e}")
-            return False
+            return False
+        
+    def speak(self, model_src, text, speaker_id = None):
+        model = model_src
+        voice = PiperVoice.load(model)
+
+        # Setup a sounddevice OutputStream with appropriate parameters
+        # The sample rate and channels should match the properties of the PCM data
+        stream = sd.OutputStream(samplerate=voice.config.sample_rate, channels=1, dtype='int16')
+        stream.start()
+
+        for audio_bytes in voice.synthesize_stream_raw(text, speaker_id = speaker_id):
+            int_data = np.frombuffer(audio_bytes, dtype=np.int16)
+            stream.write(int_data)
+
+        stream.stop()
+        stream.close()

{hackerbot-0.2.0.dist-info → hackerbot-0.3.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: hackerbot
-Version: 0.2.0
+Version: 0.3.0
 Summary: This module contains the setup for the hackerbot python package.
 Author-email: Allen Chien <allen71090@gmail.com>
 License-Expression: MIT
@@ -10,6 +10,8 @@ Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: pyserial
 Requires-Dist: pytest
+Requires-Dist: piper-tts
+Requires-Dist: sounddevice
 Dynamic: license-file
 
 

hackerbot-0.3.0.dist-info/RECORD

@@ -0,0 +1,15 @@
+hackerbot/__init__.py,sha256=fjzBB_VsqCuKJ3yeLdqLSvAQIz9bAMI-KXrUC6ZrscY,1248
+hackerbot/core.py,sha256=oZKQEUaMn19MnaWNTDFqTZ7lziBEZeSk5CdLXLSLvr0,5521
+hackerbot/arm/__init__.py,sha256=JdCmTDQ2qk3W8-Alc4mjaQYxHnmH26r0nSy0JFg6J4A,3400
+hackerbot/arm/gripper.py,sha256=xZux0PZL4vvrJTTKHL7dDsRBfJr4zbmgMaA0uBR1u4s,1986
+hackerbot/base/__init__.py,sha256=PG2Ykn2MLfobAWClGFnp-AZfh1xVsnbc1nQ8E6Yy6eA,8698
+hackerbot/base/maps.py,sha256=I_4NdvOMnkHX6-mW43QpDPJ-eVc6npgcBXq99tU7D1g,5916
+hackerbot/head/__init__.py,sha256=VvKc6Gy3hNARUbFf8HoKkc2TFWoSSswrJbqytvEKUSA,3186
+hackerbot/head/eyes.py,sha256=xqeKMxL12iaa8KQzDlbgbNy3LzcmWm8aXkebztYJ4P8,1370
+hackerbot/utils/hackerbot_helper.py,sha256=egQPVBBUo52ywsO6jGAGVqhyGLpMPz-b2fgLBb39WSM,4998
+hackerbot/utils/serial_helper.py,sha256=l7pj32mnoVZN-7foU_FPUxdmZaE43jcMmZRBAGEX8Zc,6457
+hackerbot-0.3.0.dist-info/licenses/LICENSE,sha256=SCcXH0bf35ISRu_Ks8xEKySHXiqclANLWhBUbVU8VvA,1081
+hackerbot-0.3.0.dist-info/METADATA,sha256=SNyJO3uVYEOxCbfCs-JkC4ifsuNVd2HGexvpfNzmVos,1766
+hackerbot-0.3.0.dist-info/WHEEL,sha256=pxyMxgL8-pra_rKaQ4drOZAegBVuX-G_4nRHjjgWbmo,91
+hackerbot-0.3.0.dist-info/top_level.txt,sha256=2n_FStAr1SiI3BV67x7KJHYIOmEwxjUD59zedw2hLkU,10
+hackerbot-0.3.0.dist-info/RECORD,,

{hackerbot-0.2.0.dist-info → hackerbot-0.3.0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (78.1.0)
+Generator: setuptools (79.0.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

hackerbot/examples/keyboard_teleop_examples/AI_ELITE_teleop.py

@@ -1,219 +0,0 @@
-################################################################################
-# Copyright (c) 2025 Hackerbot Industries LLC
-#
-# This source code is licensed under the MIT license found in the
-# LICENSE file in the root directory of this source tree.
-#
-# Created By: Allen Chien
-# Created:    April 2025
-# Updated:    2025.04.01
-#
-# This script is an example of how to use the AI_ELITE_teleop behavior.
-#
-# Special thanks to the following for their code contributions to this codebase:
-# Allen Chien - https://github.com/AllenChienXXX
-################################################################################
-
-
-from hackerbot import Hackerbot
-import time
-import os
-
-import sys
-from select import select
-from arm_teleop import ArmTeleop
-from base_teleop import BaseTeleop, KBHit
-from head_teleop import HeadTeleop
-
-class AI_ELITE_Teleop(ArmTeleop, BaseTeleop, HeadTeleop):
-    def __init__(self):
-        self.kb = KBHit()
-
-        self.robot = Hackerbot()
-        self.robot.base.initialize()
-        
-        # Modify movement parameters
-        self.step_size = 0.2 # mm
-        self.max_l_step_size = 300.0 # mm/s
-        self.max_r_step_size = 90.0 # degree/s
-        
-        self.joint_speed = 50
-
-        self.j_agl_1 = 0
-        self.j_agl_2 = 0
-        self.j_agl_3 = 0
-        self.j_agl_4 = 0
-        self.j_agl_5 = 0
-        self.j_agl_6 = 0
-
-        self.yaw = 180
-        self.pitch = 180
-
-        self.base_command = None
-        self.head_command = None
-        self.arm_command = None
-
-        self.stop = False
-        self.last_key = None  # Track last keypress
-        
-        # Print initial instructions to terminal
-        self.print_terminal_instructions()
-
-    def print_terminal_instructions(self):
-        """Print instructions to the terminal"""
-        os.system('clear' if os.name == 'posix' else 'cls')
-        print("\n" + "="*10 + " Robot Teleop Controls " + "="*10 + "\r")
-        print("Base controls:\r")
-        print("   ↑ / ↓    : FWD/BCK |   ← / →    : L/R | space  : STOP\r")
-        print("=" * 30 + "\r")
-        print("Head Controls:\r")
-        print("   u/i : Yaw L/R |   j/k : Pitch U/D")
-        print("=" * 30 + "\r")
-        print("Arm Controls:\r")
-        print("   q/w : Joint 1 L/R     |   a/s : Joint 2 BCK/FWD |   z/x : Joint 3 BCK/FWD")
-        print("   e/r : Joint 4 BCK/FWD |   d/f : Joint 5 L/R     |   c/v : Joint 6 L/R")
-        print("\nGripper:")
-        print("   g/h    : Open/Close gripper | b    : Calibrate gripper\r")
-        
-        print("\nOther:")
-        print("   o/p : increase/decrease step size | -/+ : decrease/increase speed\r")
-        print("\nCTRL-C or 0 to quit\r")
-        print("=" * 43 + "\r")
-
-    def update_display(self):
-        """Update step size and speed in place without adding new lines"""
-        sys.stdout.write(f"\rCurrent step size: {self.step_size:.1f} | Current joint speed: {self.joint_speed}    ")
-        sys.stdout.flush()  # Ensure immediate update
-
-    def get_command(self):
-        self.base_command = False
-        self.head_command = False
-        self.arm_command = False
-        key = None
-        # Read keyboard input
-        if self.kb.kbhit() is not None:
-            key = self.kb.getch()
-            # print(f"key: {key}\r")
-            while sys.stdin in select([sys.stdin], [], [], 0)[0]:  
-                sys.stdin.read(1)
-
-            if key == self.last_key:
-                self.last_key = None
-                return None, None  
-
-            self.last_key = key  # Update last key
-
-            # Check for quit conditions
-            if key == '0':  # '0' key to quit
-                self.stop = True
-                return None, None
-                
-            if key == 'o':
-                self.step_size += 0.1
-                if self.step_size > 1: 
-                    self.step_size = 1
-            elif key == 'p':
-                self.step_size -= 0.1
-                if self.step_size < 0.1:
-                    self.step_size = 0.1
-            elif key == '-':
-                self.joint_speed -= 10
-                if self.joint_speed < 10:
-                    self.joint_speed = 10
-            elif key == '+':
-                self.joint_speed += 10
-                if self.joint_speed > 100:
-                    self.joint_speed = 100
-            if key in ['\x1b[A', '\x1b[B', '\x1b[D', '\x1b[C', ' ']:
-                l_vel, r_vel = BaseTeleop.get_base_command_from_key(self, key)
-                self.base_command = True
-                return l_vel, r_vel
-            elif key in ['u', 'i', 'j', 'k']:
-                y, p = HeadTeleop.get_head_value_from_key(self, key)
-                self.head_command = True
-                return y, p
-            elif key in ['q', 'w', 'a', 's', 'z', 'x', 'e', 'r', 'd', 'f', 'c', 'v', 'g', 'h', 'b']:
-                command, value = ArmTeleop.get_arm_value_from_key(self, key)
-                self.arm_command = True
-                return command, value
-            else:
-                return None, None
-
-        else:
-            self.last_key = None
-            return 0.0, 0.0
-
-    def run(self):
-        while not self.stop:
-            input_1, input_2 = self.get_command()
-            if input_1 is not None and input_2 is not None:
-                response = None  # Initialize response
-                if self.base_command:
-                    response = self.robot.base.drive(input_1, input_2, block=False)
-                    time.sleep(0.01)
-                elif self.head_command:
-                    response = self.robot.head.look(input_1, input_2, self.joint_speed)
-                    time.sleep(0.01)
-                elif self.arm_command:
-                    command = input_1
-                    value = input_2
-                    if isinstance(command, int):  # Joint movement
-                        # Limit joint angles based on which joint
-                        max_angle = 175.0 if command == 6 else 165.0
-                        if abs(value) <= max_angle:
-                            response = self.robot.arm.move_joint(command, value, self.joint_speed)
-                    elif command == 'gripper_open':
-                        response = self.robot.arm.gripper.open()
-                    elif command == 'gripper_close':
-                        response = self.robot.arm.gripper.close()
-                    elif command == 'gripper_calibrate':
-                        response = self.robot.arm.gripper.calibrate()
-                    
-                    time.sleep(0.2)
-
-                if response == False:
-                    break
-
-            input_1 = None
-            input_2 = None
-            self.update_display()
-
-    def stow(self):
-        self.robot.arm.move_joints(0,0,0,0,0,0,50) 
-        self.robot.head.look(180,180,50)
-
-    def cleanup(self):
-        """Cleanup method to properly shut down the robot and restore terminal settings"""
-        try:
-            # Restore terminal settings
-            self.kb.set_normal_term()
-            # self.robot.stop_driver()
-            self.stow()
-            # Destroy the robot connection
-            self.robot.base.destroy(auto_dock=True)
-            
-        except Exception as e:
-            print(f"\nError during cleanup: {e}")
-            # Try to restore terminal settings even if there's an error
-            try:
-                self.kb.set_normal_term()
-            except:
-                pass
-
-    def __del__(self):
-        """Destructor to ensure cleanup is called"""
-        self.cleanup()
-
-# Main entry point
-if __name__ == '__main__':
-    teleop = None
-    try:
-        teleop = AI_ELITE_Teleop()
-        teleop.run()
-    except KeyboardInterrupt:
-        print("\nShutting down...")
-    except Exception as e:
-        print(f"\nError: {e}")
-    finally:
-        if teleop:
-            teleop.cleanup()

hackerbot/examples/keyboard_teleop_examples/AI_PRO_teleop.py

@@ -1,180 +0,0 @@
-################################################################################
-# Copyright (c) 2025 Hackerbot Industries LLC
-#
-# This source code is licensed under the MIT license found in the
-# LICENSE file in the root directory of this source tree.
-#
-# Created By: Allen Chien
-# Created:    April 2025
-# Updated:    2025.04.01
-#
-# This script is an example of how to use the AI_PRO_teleop behavior.
-#
-# Special thanks to the following for their code contributions to this codebase:
-# Allen Chien - https://github.com/AllenChienXXX
-################################################################################
-
-
-from hackerbot import Hackerbot
-import time
-import os
-
-import sys
-from select import select
-from base_teleop import BaseTeleop, KBHit
-from head_teleop import HeadTeleop
-
-class AI_PRO_Teleop():
-    def __init__(self):
-        self.kb = KBHit()
-
-        self.robot = Hackerbot()
-        self.robot.base.initialize()
-        
-        # Modify movement parameters
-        self.step_size = 0.2 # mm
-        self.max_l_step_size = 300.0 # mm/s
-        self.max_r_step_size = 90.0 # degree/s
-        
-        self.joint_speed = 50
-
-        self.yaw = 180
-        self.pitch = 180
-
-        self.base_command = None
-        self.head_command = None
-
-        self.stop = False
-        self.last_key = None  # Track last keypress
-        
-        # Print initial instructions to terminal
-        self.print_terminal_instructions()
-
-    def print_terminal_instructions(self):
-        """Print instructions to the terminal"""
-        os.system('clear' if os.name == 'posix' else 'cls')
-        print("\n" + "="*10 + " Robot Teleop Controls " + "="*10 + "\r")
-        print("Base controls:\r")
-        print("   ↑ / ↓    : FWD/BCK |   ← / →    : L/R | space  : STOP\r")
-        print("=" * 30 + "\r")
-        print("Head Controls:\r")
-        print("   u/i : Yaw L/R |   j/k : Pitch UP/DN")
-        
-        print("\nOther:")
-        print("   o/p : increase/decrease step size | -/+ : decrease/increase speed\r")
-        print("\nCTRL-C or 0 to quit\r")
-        print("=" * 43 + "\r")
-
-    def update_display(self):
-        """Update step size and speed in place without adding new lines"""
-        sys.stdout.write(f"\rCurrent step size: {self.step_size:.1f} | Current joint speed: {self.joint_speed}    ")
-        sys.stdout.flush()  # Ensure immediate update
-
-    def get_command(self):
-        self.base_command = False
-        self.head_command = False
-        key = None
-        # Read keyboard input
-        if self.kb.kbhit() is not None:
-            key = self.kb.getch()
-            # print(f"key: {key}\r")
-            while sys.stdin in select([sys.stdin], [], [], 0)[0]:  
-                sys.stdin.read(1)
-
-            if key == self.last_key:
-                self.last_key = None
-                return None, None  
-
-            self.last_key = key  # Update last key
-
-            # Check for quit conditions
-            if key == '0':  # '0' key to quit
-                self.stop = True
-                return None, None
-                
-            if key == 'o':
-                self.step_size += 0.1
-                if self.step_size > 1: 
-                    self.step_size = 1
-            elif key == 'p':
-                self.step_size -= 0.1
-                if self.step_size < 0.1:
-                    self.step_size = 0.1
-            elif key == '-':
-                self.joint_speed -= 10
-                if self.joint_speed < 10:
-                    self.joint_speed = 10
-            elif key == '+':
-                self.joint_speed += 10
-                if self.joint_speed > 100:
-                    self.joint_speed = 100
-            if key in ['\x1b[A', '\x1b[B', '\x1b[D', '\x1b[C', ' ']:
-                l_vel, r_vel = BaseTeleop.get_base_command_from_key(self, key)
-                self.base_command = True
-                return l_vel, r_vel
-            elif key in ['u', 'i', 'j', 'k']:
-                y, p = HeadTeleop.get_head_value_from_key(self, key)
-                self.head_command = True
-                return y, p
-            else:
-                return None, None
-
-        else:
-            self.last_key = None
-            return 0.0, 0.0
-
-    def run(self):
-        while not self.stop:
-            input_1, input_2 = self.get_command()
-            if input_1 is not None and input_2 is not None:
-                response = None  # Initialize response
-                if self.base_command:
-                    response = self.robot.base.drive(input_1, input_2, block=False)
-                    time.sleep(0.01)
-                elif self.head_command:
-                    response = self.robot.head.look(input_1, input_2, self.joint_speed)
-                    time.sleep(0.01)
-                if response == False:
-                    break
-
-            input_1 = None
-            input_2 = None
-            self.update_display()
-
-    def stow(self):
-        self.robot.head.look(180,180,50)
-
-    def cleanup(self):
-        """Cleanup method to properly shut down the robot and restore terminal settings"""
-        try:
-            # Restore terminal settings
-            self.kb.set_normal_term()
-            self.stow()
-            # Destroy the robot connection
-            self.robot.base.destroy(auto_dock=True)
-            
-        except Exception as e:
-            print(f"\nError during cleanup: {e}")
-            # Try to restore terminal settings even if there's an error
-            try:
-                self.kb.set_normal_term()
-            except:
-                pass
-
-    def __del__(self):
-        """Destructor to ensure cleanup is called"""
-        self.cleanup()
-
-# Main entry point
-if __name__ == '__main__':
-    teleop = None
-    try:
-        teleop = AI_PRO_Teleop()
-        teleop.run()
-    except KeyboardInterrupt:
-        print("\nShutting down...")
-    except Exception as e:
-        print(f"\nError: {e}")
-    finally:
-        if teleop:
-            teleop.cleanup()

hackerbot/examples/keyboard_teleop_examples/arm_teleop.py

@@ -1,230 +0,0 @@
-################################################################################
-# Copyright (c) 2025 Hackerbot Industries LLC
-#
-# This source code is licensed under the MIT license found in the
-# LICENSE file in the root directory of this source tree.
-#
-# Created By: Allen Chien
-# Created:    April 2025
-# Updated:    2025.04.01
-#
-# This script is an example of how to use the arm teleop behavior.
-#
-# Special thanks to the following for their code contributions to this codebase:
-# Allen Chien - https://github.com/AllenChienXXX
-################################################################################
-
-
-from hackerbot import Hackerbot
-import time
-import os
-
-import sys
-from select import select
-from base_teleop import KBHit
-
-class ArmTeleop:
-    def __init__(self):
-        self.kb = KBHit()
-
-        self.robot = Hackerbot()
-        self.robot.base.initialize()
-
-        
-        # Modify movement parameters
-        self.arm_speed = 50
-        self.step_size = 0.2 # mm
-
-        self.j_agl_1 = 0
-        self.j_agl_2 = 0
-        self.j_agl_3 = 0
-        self.j_agl_4 = 0
-        self.j_agl_5 = 0
-        self.j_agl_6 = 0
-
-        self.stop = False
-        self.last_key = None  # Track last keypress
-        
-        # Print initial instructions to terminal
-        self.print_terminal_instructions()
-
-    def print_terminal_instructions(self):
-        """Print static instructions to the terminal"""
-        os.system('clear' if os.name == 'posix' else 'cls')
-        print("\n" + "="*10 + " Robot Arm Teleop Controls " + "="*10 + "\r")
-        
-        print("\nJoint Controls (±165° for joints 1-5, ±175° for joint 6):")
-        print("   q/w : Joint 1 L/R")
-        print("   a/s : Joint 2 BCK/FWD")
-        print("   z/x : Joint 3 BCK/FWD")
-        print("   e/r : Joint 4 BCK/FWD")
-        print("   d/f : Joint 5 L/R")
-        print("   c/v : Joint 6 L/R")
-        
-        print("\nGripper Controls:")
-        print("   g/h    : Open/Close gripper")
-        print("   b    : Calibrate gripper")
-        
-        print("\nOther Controls:")
-        print("   o/p : increase/decrease step size")
-        print("   -/+ : decrease/increase speed")
-        print("\nCTRL-C or 0 to quit")
-        
-        # Reserve space for dynamic updates
-        print("\n" + "=" * 43 + "\r")
-
-    def update_display(self):
-        """Update step size and speed in place without adding new lines"""
-        sys.stdout.write(f"\rCurrent step size: {self.step_size:.1f}   |   Current speed: {self.arm_speed}%    ")
-        sys.stdout.flush()  # Ensure immediate update
-
-
-    def get_arm_command(self):
-        key = None
-        # Read keyboard input
-        if self.kb.kbhit() is not None:
-            key = self.kb.getch()
-            
-            while sys.stdin in select([sys.stdin], [], [], 0)[0]:  
-                sys.stdin.read(1)
-
-            if key == self.last_key:
-                self.last_key = None
-                return None, None  
-
-            self.last_key = key
-
-            # Check for quit conditions
-            if key == '0':  # ESC or Ctrl-C
-                self.stop = True
-                return None, None
-            
-            if key == 'o':
-                self.step_size += 0.1
-            elif key == 'p':
-                self.step_size -= 0.1
-            if key == '-':
-                self.arm_speed -= 10
-                if self.arm_speed < 0:
-                    self.arm_speed = 0
-            elif key == '+':
-                self.arm_speed += 10
-                if self.arm_speed > 100:
-                    self.arm_speed = 100
-
-            command, value = self.get_arm_value_from_key(key)
-            return command, value
-        else:
-            self.last_key = None
-            return None, None
-
-    def get_arm_value_from_key(self, key):
-                # Joint controls
-        if key == 'q':    # Joint 1 left
-            self.j_agl_1 += self.step_size*100
-            return 1, self.j_agl_1
-        elif key == 'w':  # Joint 1 right
-            self.j_agl_1 -= self.step_size*100
-            return 1, self.j_agl_1
-        elif key == 'a':  # Joint 2 left
-            self.j_agl_2 += self.step_size*100
-            return 2, self.j_agl_2
-        elif key == 's':  # Joint 2 right
-            self.j_agl_2 -= self.step_size*100
-            return 2, self.j_agl_2
-        elif key == 'z':  # Joint 3 left
-            self.j_agl_3 += self.step_size*100
-            return 3, self.j_agl_3
-        elif key == 'x':  # Joint 3 right
-            self.j_agl_3 -= self.step_size*100
-            return 3, self.j_agl_3
-        elif key == 'e':  # Joint 4 left
-            self.j_agl_4 += self.step_size*100
-            return 4, self.j_agl_4
-        elif key == 'r':  # Joint 4 right
-            self.j_agl_4 -= self.step_size*100
-            return 4, self.j_agl_4
-        elif key == 'd':  # Joint 5 left
-            self.j_agl_5 += self.step_size*100
-            return 5, self.j_agl_5
-        elif key == 'f':  # Joint 5 right
-            self.j_agl_5 -= self.step_size*100
-            return 5, self.j_agl_5
-        elif key == 'c':  # Joint 6 left
-            self.j_agl_6 += self.step_size*100
-            return 6, self.j_agl_6
-        elif key == 'v':  # Joint 6 right
-            self.j_agl_6 -= self.step_size*100
-            return 6, self.j_agl_6
-        # Gripper controls
-        elif key == 'g':  # Open gripper
-            return 'gripper_open', 'True'
-        elif key == 'h':  # Close gripper
-            return 'gripper_close', 'True'
-        elif key == 'b':  # Calibrate gripper
-            return 'gripper_calibrate', 'True'
-        else:
-            return None, None
-        
-
-    def run(self):
-        while not self.stop:
-            response = None
-            command, value = self.get_arm_command()
-            if command is not None:
-                if isinstance(command, int):  # Joint movement
-                    # Limit joint angles based on which joint
-                    max_angle = 175.0 if command == 6 else 165.0
-                    if abs(value) <= max_angle:
-                        response = self.robot.arm.move_joint(command, value, self.arm_speed)
-
-                elif command == 'gripper_open':
-                    response = self.robot.arm.gripper.open()
-                elif command == 'gripper_close':
-                    response = self.robot.arm.gripper.close()
-                elif command == 'gripper_calibrate':
-                    response = self.robot.arm.gripper.calibrate()
-                
-                if response == False:
-                    break
-            time.sleep(0.2)
-            self.update_display()
-
-    def cleanup(self):
-        """Cleanup method to properly shut down the robot and restore terminal settings"""
-        try:
-            # Restore terminal settings
-            self.kb.set_normal_term()
-            # Dock the robot
-            # self.robot.dock()
-            self.robot.arm.move_joints(0,0,0,0,0,0,50) 
-            time.sleep(2) 
-            # Destroy the robot connection
-            self.robot.destroy()
-            
-        except Exception as e:
-            print(f"\nError during cleanup: {e}")
-            # Try to restore terminal settings even if there's an error
-            try:
-                self.kb.set_normal_term()
-            except:
-                pass
-
-    def __del__(self):
-        """Destructor to ensure cleanup is called"""
-        self.cleanup()
-
-
-# Main entry point
-if __name__ == '__main__':
-    teleop = None
-    try:
-        teleop = ArmTeleop()
-        teleop.run()
-    except KeyboardInterrupt:
-        print("\nShutting down...")
-    except Exception as e:
-        print(f"\nError: {e}")
-    finally:
-        if teleop:
-            teleop.cleanup()

hackerbot/examples/keyboard_teleop_examples/base_teleop.py

@@ -1,206 +0,0 @@
-################################################################################
-# Copyright (c) 2025 Hackerbot Industries LLC
-#
-# This source code is licensed under the MIT license found in the
-# LICENSE file in the root directory of this source tree.
-#
-# Created By: Allen Chien
-# Created:    April 2025
-# Updated:    2025.04.01
-#
-# This script is an example of how to use the base teleop behavior.
-#
-# Special thanks to the following for their code contributions to this codebase:
-# Allen Chien - https://github.com/AllenChienXXX
-################################################################################
-
-
-from hackerbot import Hackerbot
-import time
-import os
-
-import sys, termios, atexit
-from select import select
-
-class KBHit:
-  
-  def __init__(self):
-    '''Creates a KBHit object that you can call to do various keyboard things.
-    '''
-    # Save the terminal settings
-    self.fd = sys.stdin.fileno()
-    self.new_term = termios.tcgetattr(self.fd)
-    self.old_term = termios.tcgetattr(self.fd)
-
-    # New terminal setting unbuffered
-    self.new_term[3] = (self.new_term[3] & ~termios.ICANON & ~termios.ECHO)
-    termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.new_term)
-
-    # Support normal-terminal reset at exit
-    atexit.register(self.set_normal_term)
-
-
-  def set_normal_term(self):
-    ''' Resets to normal terminal.  On Windows this is a no-op.
-    '''
-    termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term)
-
-
-  def getch(self):
-    ''' Returns a keyboard character after kbhit() has been called.
-    '''
-    ch1 = sys.stdin.read(1)
-    if ch1 == '\x1b':
-      # special key pressed
-      ch2 = sys.stdin.read(1)
-      ch3 = sys.stdin.read(1)
-      ch = ch1 + ch2 + ch3
-    else:
-      # not a special key
-      ch = ch1
-    while sys.stdin in select([sys.stdin], [], [], 0)[0]:  
-        sys.stdin.read(1)
-    return ch
-
-
-  def kbhit(self):
-    ''' Returns True if keyboard character was hit, False otherwise.
-    '''
-    dr,dw,de = select([sys.stdin], [], [], 0)
-    while sys.stdin in select([sys.stdin], [], [], 0)[0]:  
-        sys.stdin.read(1)
-    return dr != []
-
-class BaseTeleop:
-    def __init__(self):
-        self.kb = KBHit()
-
-        self.robot = Hackerbot()
-        self.robot.base.initialize()
-        
-        # Modify movement parameters
-        self.step_size = 0.2 # mm
-        self.max_l_step_size = 300.0 # mm/s
-        self.max_r_step_size = 90.0 # degree/s
-
-        self.stop = False
-        self.last_key = None  # Track last keypress
-        
-        # Print initial instructions to terminal
-        self.print_terminal_instructions()
-
-    def print_terminal_instructions(self):
-        """Print instructions to the terminal"""
-        os.system('clear' if os.name == 'posix' else 'cls')
-        print("\n" + "="*10 + " Robot Teleop Controls " + "="*10 + "\r")
-        print("\nMoving controls:\r")
-        print("   ↑ / ↓    : forward/backward |   ← / →    : rotate left/right | space  : stop\r")
-        print("o/p : increase/decrease step size by 10%\r")
-        print("\nCTRL-C or '0' to quit\r")
-        print("=" * 43 + "\r")
-
-    def update_display(self):
-        """Update step size in place without adding new lines"""
-        sys.stdout.write(f"\rCurrent step size: {self.step_size:.2f}m\r")
-        sys.stdout.flush()  # Ensure immediate update
-
-    def get_command(self):
-        key = None
-        # Read keyboard input
-        if self.kb.kbhit() is not None:
-            key = self.kb.getch()
-            while sys.stdin in select([sys.stdin], [], [], 0)[0]:  
-                sys.stdin.read(1)
-
-            if key == self.last_key:
-                self.last_key = None
-                return None, None  
-
-            self.last_key = key  # Update last key
-
-            # Check for quit conditions
-            if key == '0':  # '0' key to quit
-                self.stop = True
-                return None, None
-                
-            if key == 'o':
-                self.step_size += 0.1
-            elif key == 'p':
-                self.step_size -= 0.1
-            if key in ['\x1b[A', '\x1b[B', '\x1b[D', '\x1b[C', ' ']:
-                l_vel, r_vel = self.get_base_command_from_key(key)
-            else:
-                l_vel = None
-                r_vel = None
-                
-            return l_vel, r_vel
-        else:
-            self.last_key = None
-            return 0.0, 0.0
-
-    def get_base_command_from_key(self, key):
-        if key == '\x1b[A':  # Up arrow - Forward
-            l_vel = self.max_l_step_size * self.step_size
-            r_vel = 0.0
-        elif key == '\x1b[B':  # Down arrow - Backward
-            l_vel = -self.max_l_step_size * self.step_size
-            r_vel = 0.0
-        elif key == '\x1b[D':  # Left arrow - Rotate left
-            l_vel = 0.0
-            r_vel = self.max_r_step_size * self.step_size
-        elif key == '\x1b[C':  # Right arrow - Rotate right
-            l_vel = 0.0
-            r_vel = -self.max_r_step_size * self.step_size
-        elif key == ' ':  # Space - Stop
-            l_vel = 0.0
-            r_vel = 0.0
-        else:
-            l_vel = None
-            r_vel = None
-        return l_vel, r_vel
-
-    def run(self):
-        while not self.stop:
-            l_vel, r_vel = self.get_command()
-            if l_vel is not None and r_vel is not None:
-                respone = self.robot.base.drive(l_vel, r_vel, block=False)
-                if respone == False:
-                    break
-            l_vel = None
-            r_vel = None
-            # time.sleep(0.01)
-            self.update_display()
-    def cleanup(self):
-        """Cleanup method to properly shut down the robot and restore terminal settings"""
-        try:
-            # Restore terminal settings
-            self.kb.set_normal_term()
-            # Destroy the robot connection
-            self.robot.base.destroy(auto_dock=True)
-            
-        except Exception as e:
-            print(f"\nError during cleanup: {e}")
-            # Try to restore terminal settings even if there's an error
-            try:
-                self.kb.set_normal_term()
-            except:
-                pass
-
-    def __del__(self):
-        """Destructor to ensure cleanup is called"""
-        self.cleanup()
-
-
-# Main entry point
-if __name__ == '__main__':
-    teleop = None
-    try:
-        teleop = BaseTeleop()
-        teleop.run()
-    except KeyboardInterrupt:
-        print("\nShutting down...")
-    except Exception as e:
-        print(f"\nError: {e}")
-    finally:
-        if teleop:
-            teleop.cleanup()

hackerbot/examples/keyboard_teleop_examples/head_teleop.py

@@ -1,170 +0,0 @@
-################################################################################
-# Copyright (c) 2025 Hackerbot Industries LLC
-#
-# This source code is licensed under the MIT license found in the
-# LICENSE file in the root directory of this source tree.
-#
-# Created By: Allen Chien
-# Created:    April 2025
-# Updated:    2025.04.01
-#
-# This script is an example of how to use the head teleop behavior.
-#
-# Special thanks to the following for their code contributions to this codebase:
-# Allen Chien - https://github.com/AllenChienXXX
-################################################################################
-
-
-from hackerbot import Hackerbot
-import time
-import os
-
-import sys
-from select import select
-from base_teleop import KBHit
-
-class HeadTeleop:
-    def __init__(self):
-        self.kb = KBHit()
-
-        self.robot = Hackerbot()
-        self.robot.head.set_idle_mode(False)
-        
-        # Modify movement parameters
-        self.joint_speed = 50
-        self.step_size = 0.2 # mm
-
-        self.yaw = 180
-        self.pitch = 180
-
-        self.stop = False
-        self.last_key = None  # Track last keypress
-        
-        # Print initial instructions to terminal
-        self.print_terminal_instructions()
-
-    def print_terminal_instructions(self):
-        """Print static instructions to the terminal"""
-        os.system('clear' if os.name == 'posix' else 'cls')
-        print("\n" + "="*10 + " Robot Head Teleop Controls " + "="*10 + "\r")
-        print("   u/i : Yaw rotate L/R")
-        print("   j/k : Pitch rotate B/F")
-        
-        print("\nOther Controls:")
-        print("   p/o : increase/decrease step size")
-        print("   -/+ : decrease/increase speed")
-        print("\nCTRL-C or 0 to quit")
-        
-        # Reserve space for dynamic updates
-        print("\n" + "=" * 43 + "\r")
-
-    def update_display(self):
-        """Update step size and speed in place without adding new lines"""
-        sys.stdout.write(f"\rCurrent step size: {self.step_size:.1f}   |   Current speed: {self.joint_speed}%    ")
-        sys.stdout.flush()  # Ensure immediate update
-
-
-    def get_head_command(self):
-        key = None
-        # Read keyboard input
-        if self.kb.kbhit() is not None:
-            key = self.kb.getch()
-            
-            while sys.stdin in select([sys.stdin], [], [], 0)[0]:  
-                sys.stdin.read(1)
-
-            if key == self.last_key:
-                self.last_key = None
-                return None, None  
-
-            self.last_key = key
-
-            # Check for quit conditions
-            if key == '0':  # ESC or Ctrl-C
-                self.stop = True
-                return None, None
-            
-            if key == 'o':
-                self.step_size += 0.1
-            elif key == 'p':
-                self.step_size -= 0.1
-            if key == '-':
-                self.joint_speed -= 10
-                if self.joint_speed < 0:
-                    self.joint_speed = 0
-            elif key == '+':
-                self.joint_speed += 10
-                if self.joint_speed > 100:
-                    self.joint_speed = 100
-
-            return self.get_head_value_from_key(key)
-        else:
-            self.last_key = None
-            return None, None
-
-    def get_head_value_from_key(self, key):
-        # Joint controls
-        if key == 'u':    # Joint 1 left
-            self.yaw += self.step_size*100
-            self.yaw = max(100, min(260, self.yaw))
-        elif key == 'i':  # Joint 1 right
-            self.yaw -= self.step_size*100
-            self.yaw = max(100, min(260, self.yaw))
-        elif key == 'j':  # Joint 2 left
-            self.pitch += self.step_size*100
-            self.pitch = max(150, min(250, self.pitch))
-        elif key == 'k':  # Joint 2 right
-            self.pitch -= self.step_size*100
-            self.pitch = max(150, min(250, self.pitch))
-        else:
-            return None, None
-        
-        return self.yaw, self.pitch
-
-    def run(self):
-        while not self.stop:
-            y, p = self.get_head_command()
-            if y is not None and p is not None:
-                response = self.robot.head.look(y, p, self.joint_speed)
-
-            time.sleep(0.2)
-            if response == False:
-                break
-            self.update_display()
-
-    def cleanup(self):
-        """Cleanup method to properly shut down the robot and restore terminal settings"""
-        try:
-            # Restore terminal settings
-            self.kb.set_normal_term()
-            # Dock the robot
-            self.robot.head.look(180,180,50) 
-            # Destroy the robot connection
-            self.robot.destroy()
-            
-        except Exception as e:
-            print(f"\nError during cleanup: {e}")
-            # Try to restore terminal settings even if there's an error
-            try:
-                self.kb.set_normal_term()
-            except:
-                pass
-
-    def __del__(self):
-        """Destructor to ensure cleanup is called"""
-        self.cleanup()
-
-
-# Main entry point
-if __name__ == '__main__':
-    teleop = None
-    try:
-        teleop = HeadTeleop()
-        teleop.run()
-    except KeyboardInterrupt:
-        print("\nShutting down...")
-    except Exception as e:
-        print(f"\nError: {e}")
-    finally:
-        if teleop:
-            teleop.cleanup()

hackerbot-0.2.0.dist-info/RECORD

@@ -1,20 +0,0 @@
-hackerbot/__init__.py,sha256=fjzBB_VsqCuKJ3yeLdqLSvAQIz9bAMI-KXrUC6ZrscY,1248
-hackerbot/core.py,sha256=oZKQEUaMn19MnaWNTDFqTZ7lziBEZeSk5CdLXLSLvr0,5521
-hackerbot/arm/__init__.py,sha256=JdCmTDQ2qk3W8-Alc4mjaQYxHnmH26r0nSy0JFg6J4A,3400
-hackerbot/arm/gripper.py,sha256=xZux0PZL4vvrJTTKHL7dDsRBfJr4zbmgMaA0uBR1u4s,1986
-hackerbot/base/__init__.py,sha256=PG2Ykn2MLfobAWClGFnp-AZfh1xVsnbc1nQ8E6Yy6eA,8698
-hackerbot/base/maps.py,sha256=I_4NdvOMnkHX6-mW43QpDPJ-eVc6npgcBXq99tU7D1g,5916
-hackerbot/examples/keyboard_teleop_examples/AI_ELITE_teleop.py,sha256=cy9Cp4QSYafvm-5xBoq-ks8tdLJHzMvO_6pRweWLVaU,7832
-hackerbot/examples/keyboard_teleop_examples/AI_PRO_teleop.py,sha256=Q99v488MncM8uZ0okPzrWihQmLKCufEgbLIIT3Od0ig,5959
-hackerbot/examples/keyboard_teleop_examples/arm_teleop.py,sha256=GoyhRuqqpqwMdBKMq_pgTsbcuVNfO8sGcJKGNiD6P8k,7730
-hackerbot/examples/keyboard_teleop_examples/base_teleop.py,sha256=3XpXUWtPeCcsYhffcUMWMI_upkA9VFXB0qoinWpaqvA,6545
-hackerbot/examples/keyboard_teleop_examples/head_teleop.py,sha256=PfE-VzuaF4-bF0wtziyaTX2SnyKqZmDaNDbM8b-W9gQ,5328
-hackerbot/head/__init__.py,sha256=fNW1u1Kb5jE7q-UGQgZ511gnHPOjeR_monSm8p9CfNI,2466
-hackerbot/head/eyes.py,sha256=xqeKMxL12iaa8KQzDlbgbNy3LzcmWm8aXkebztYJ4P8,1370
-hackerbot/utils/hackerbot_helper.py,sha256=egQPVBBUo52ywsO6jGAGVqhyGLpMPz-b2fgLBb39WSM,4998
-hackerbot/utils/serial_helper.py,sha256=l7pj32mnoVZN-7foU_FPUxdmZaE43jcMmZRBAGEX8Zc,6457
-hackerbot-0.2.0.dist-info/licenses/LICENSE,sha256=SCcXH0bf35ISRu_Ks8xEKySHXiqclANLWhBUbVU8VvA,1081
-hackerbot-0.2.0.dist-info/METADATA,sha256=PvGs4X-ax2hoGDWe12HjmBS55bXcK3MMAgb6mgt8Irg,1714
-hackerbot-0.2.0.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
-hackerbot-0.2.0.dist-info/top_level.txt,sha256=2n_FStAr1SiI3BV67x7KJHYIOmEwxjUD59zedw2hLkU,10
-hackerbot-0.2.0.dist-info/RECORD,,