pymycobot 3.5.0.dev10__tar.gz → 3.5.0.dev11__tar.gz

{pymycobot-3.5.0.dev10/pymycobot.egg-info → pymycobot-3.5.0.dev11}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev10
+Version: 3.5.0.dev11
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics

{pymycobot-3.5.0.dev10 → pymycobot-3.5.0.dev11}/pymycobot/__init__.py

@@ -87,7 +87,7 @@ if sys.platform == "linux":
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.5.0dev10" 
+__version__ = "3.5.0dev11" 
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

{pymycobot-3.5.0.dev10 → pymycobot-3.5.0.dev11}/pymycobot/error.py

@@ -291,8 +291,8 @@ def calibration_parameters(**kwargs):
                     check_id(value, robot_limit[class_name][parameter], MercuryDataException)
             elif parameter == 'angle':
                 joint_id = kwargs.get('joint_id', None)
-                if joint_id in [11,12,13]:
-                    index = robot_limit[class_name]['joint_id'][joint_id-4] - 4
+                if joint_id in [11,12]:
+                    index = robot_limit[class_name]['joint_id'][joint_id-5] - 5
                 else:
                     index = robot_limit[class_name]['joint_id'][joint_id-1] - 1
                 if value < robot_limit[class_name]["angles_min"][index] or value > robot_limit[class_name]["angles_max"][index]:
@@ -413,6 +413,11 @@ def calibration_parameters(**kwargs):
             elif parameter == "torque":
                 if value < 0 or value > 100:
                     raise MercuryDataException("The parameter {} only supports 0 ~ 100, but received {}".format(parameter, value))
+            elif parameter == "hand_id":
+                if value < 1 or value > 6:
+                    raise MercuryDataException("The parameter {} only supports 1 ~ 6, but received {}".format(parameter, value))
+            elif parameter == 'pinch_mode':
+                check_0_or_1(parameter, value, [0, 1, 2, 3], value_type, MercuryDataException, int)
             else:
                 public_check(parameter_list, kwargs, robot_limit, class_name, MercuryDataException)
     elif class_name == "MyAgv":

{pymycobot-3.5.0.dev10 → pymycobot-3.5.0.dev11}/pymycobot/mercury_api.py

@@ -396,12 +396,12 @@ class MercuryCommandGenerator(DataProcessor):
                     one = valid_data[i: i + 2]
                     res.append(self._decode_int16(one))
                     i += 2
-        elif data_len == 36 and genre == ProtocolCode.MERCURY_ROBOT_STATUS:
+        elif data_len in [32, 36] and genre == ProtocolCode.MERCURY_ROBOT_STATUS:
             # 图灵右臂上位机错误：2+6+8*2+6*2 = 36
             i = 0
             res = []
             while i < data_len:
-                if i < 9:
+                if i < 8:
                     res.append(valid_data[i])
                     i += 1
                 else:
@@ -1036,7 +1036,7 @@ class MercuryCommandGenerator(DataProcessor):
 
     def drag_teach_execute(self):
         """Start dragging the teaching point and only execute it once."""
-        return self._mesg(ProtocolCode.MERCURY_DRAG_TECH_EXECUTE)
+        return self._mesg(ProtocolCode.MERCURY_DRAG_TECH_EXECUTE, has_reply=True)
 
     def drag_teach_pause(self):
         """Pause recording of dragging teaching point"""
@@ -2110,7 +2110,15 @@ class MercuryCommandGenerator(DataProcessor):
         for angle in new_coords[3:]:
             coord_list.append(self._angle2int(angle))
         angles = [self._angle2int(angle) for angle in old_angles]
-        return self._mesg(ProtocolCode.SOLVE_INV_KINEMATICS, coord_list, angles, has_reply=True)
+        res = self._mesg(ProtocolCode.SOLVE_INV_KINEMATICS, coord_list, angles, has_reply=True)
+        r = True
+        if isinstance(res, list):
+            for i in res:
+                if i == -572.95:
+                    r = False
+                else:
+                    r = True
+        return None if r == False else res
 
     def get_drag_fifo(self):
         return self._mesg(ProtocolCode.GET_DRAG_FIFO)
@@ -2307,86 +2315,94 @@ class MercuryCommandGenerator(DataProcessor):
 
     def __set_tool_fittings_value(self, addr, *args, gripper_id=14, **kwargs):
         kwargs["has_replay"] = True
+        self.calibration_parameters(class_name=self.__class__.__name__, gripper_id=gripper_id)
         return self._mesg(ProtocolCode.MERCURY_SET_TOQUE_GRIPPER, gripper_id, [addr], *args or ([0x00],), **kwargs)
 
     def __get_tool_fittings_value(self, addr, *args, gripper_id=14, **kwargs):
         kwargs["has_replay"] = True
         return self._mesg(ProtocolCode.MERCURY_GET_TOQUE_GRIPPER, gripper_id, [addr], *args or ([0x00],), **kwargs)
 
-    def get_hand_firmware_major_version(self, gripper_id):
+    def get_hand_firmware_major_version(self, gripper_id=14):
         return self.__get_tool_fittings_value(
             FingerGripper.GET_HAND_MAJOR_FIRMWARE_VERSION, gripper_id=gripper_id
         )
 
-    def get_hand_firmware_minor_version(self, gripper_id):
+    def get_hand_firmware_minor_version(self, gripper_id=14):
         return self.__get_tool_fittings_value(FingerGripper.GET_HAND_MINOR_FIRMWARE_VERSION, gripper_id=gripper_id)
 
-    def set_hand_gripper_id(self, gripper_id, hand_id):
+    def set_hand_gripper_id(self, hand_id, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__set_tool_fittings_value(
             FingerGripper.SET_HAND_GRIPPER_ID, [hand_id], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_id(self, gripper_id):
+    def get_hand_gripper_id(self, gripper_id=14):
         return self.__get_tool_fittings_value(
             FingerGripper.GET_HAND_GRIPPER_ID, gripper_id=gripper_id
         )
 
-    def set_hand_gripper_angle(self, gripper_id, joint_id, gripper_angle):
+    def set_hand_gripper_angle(self, hand_id, gripper_angle, gripper_id=14):
         """Set the angle of the single joint of the gripper
 
         Args:
-            gripper_id (int) : 1 ~ 254
-            joint_id (int): 1 ~ 6
+            hand_id (int): 1 ~ 6
             gripper_angle (int): 0 ~ 100
+            gripper_id (int) : 1 ~ 254
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id, gripper_angle=gripper_angle)
         return self.__set_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_ANGLE, [joint_id], [gripper_angle], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_ANGLE, [hand_id], [gripper_angle], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_angle(self, gripper_id, joint_id):
+    def get_hand_gripper_angle(self, hand_id, gripper_id=14):
         """Get the angle of the single joint of the gripper
 
         Args:
+            hand_id (int): 1 ~ 6
             gripper_id (int) : 1 ~ 254
-            joint_id (int): 1 ~ 6
 
         Return:
             gripper_angle (int): 0 ~ 100
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__get_tool_fittings_value(
-            FingerGripper.GET_HAND_GRIPPER_ANGLE, [joint_id], gripper_id=gripper_id
+            FingerGripper.GET_HAND_GRIPPER_ANGLE, [hand_id], gripper_id=gripper_id
         )
 
-    def set_hand_gripper_angles(self, gripper_id, angles, speed):
+    def set_hand_gripper_angles(self, angles, speed, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, speed=speed)
         return self.__set_tool_fittings_value(
             FingerGripper.SET_HAND_GRIPPER_ANGLES, [angles], [speed], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_angles(self, gripper_id):
+    def get_hand_gripper_angles(self, gripper_id=14):
         return self.__get_tool_fittings_value(FingerGripper.GET_HAND_ALL_ANGLES, gripper_id)
 
-    def set_hand_gripper_torque(self, gripper_id, joint_id, value):
+    def set_hand_gripper_torque(self, hand_id, torque, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id, torque=torque)
         return self.__set_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_TORQUE, [joint_id], [value], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_TORQUE, [hand_id], [torque], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_torque(self, gripper_id, joint_id):
+    def get_hand_gripper_torque(self, hand_id, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__get_tool_fittings_value(
-            FingerGripper.GET_HAND_GRIPPER_TORQUE, [joint_id], gripper_id=gripper_id
+            FingerGripper.GET_HAND_GRIPPER_TORQUE, [hand_id], gripper_id=gripper_id
         )
 
-    def set_hand_gripper_calibrate(self, gripper_id, joint_id):
+    def set_hand_gripper_calibrate(self, hand_id, gripper_id=14):
         """ Setting the gripper jaw zero position
 
         Args:
+            hand_id (int): 1 ~ 6
             gripper_id (int): 1 ~ 254
-            joint_id (int): 1 ~ 6
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__set_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_CALIBRATION, [joint_id], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_CALIBRATION, [hand_id], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_status(self, gripper_id):
+    def get_hand_gripper_status(self, gripper_id=14):
         """ Get the clamping status of the gripper
 
         Args:
@@ -2402,47 +2418,50 @@ class MercuryCommandGenerator(DataProcessor):
             FingerGripper.GET_HAND_GRIPPER_STATUS, gripper_id=gripper_id
         )
 
-    def set_hand_gripper_enabled(self, gripper_id, flag):
+    def set_hand_gripper_enabled(self, flag, gripper_id=14):
         """ Set the enable state of the gripper
 
         Args:
             gripper_id (int): 1 ~ 254
-            flag (int): 1 ~ 6
+            flag (int): 0 or 1
 
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag)
         return self.__set_tool_fittings_value(
             FingerGripper.SET_HAND_GRIPPER_ENABLED, [flag], gripper_id=gripper_id
         )
 
-    def set_hand_gripper_speed(self, gripper_id, joint_id, speed):
+    def set_hand_gripper_speed(self, hand_id, speed, gripper_id=14):
         """ Set the speed of the gripper
 
         Args:
-            gripper_id (int): 1 ~ 254
-            joint_id (int): 1 ~ 6
+            hand_id (int): 1 ~ 6
             speed (int): 1 ~ 100
+            gripper_id (int): 1 ~ 254
 
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id, speed=speed)
         return self.__set_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_SPEED, [joint_id], [speed], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_SPEED, [hand_id], [speed], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_default_speed(self, gripper_id, joint_id):
+    def get_hand_gripper_default_speed(self, hand_id, gripper_id=14):
         """ Get the default speed of the gripper
 
         Args:
+            hand_id (int): 1 ~ 6
             gripper_id (int): 1 ~ 254
-            joint_id (int): 1 ~ 6
 
         Return:
             default speed (int): 1 ~ 100
 
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__set_tool_fittings_value(
-            FingerGripper.GET_HAND_GRIPPER_DEFAULT_SPEED, [joint_id], gripper_id=gripper_id
+            FingerGripper.GET_HAND_GRIPPER_DEFAULT_SPEED, [hand_id], gripper_id=gripper_id
         )
 
-    def set_hand_gripper_pinch_action(self, gripper_id, pinch_mode):
+    def set_hand_gripper_pinch_action(self, pinch_mode, gripper_id=14):
         """ Set the pinching action of the gripper
 
         Args:
@@ -2453,107 +2472,121 @@ class MercuryCommandGenerator(DataProcessor):
                 2 - Three-finger grip
                 3 - Two-finger grip
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, pinch_mode=pinch_mode)
         return self.__set_tool_fittings_value(
             FingerGripper.SET_HAND_GRIPPER_PINCH_ACTION, pinch_mode, gripper_id=gripper_id
         )
 
-    def set_hand_gripper_p(self, gripper_id, joint_id, value):
+    def set_hand_gripper_p(self, hand_id, value, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__set_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_P, [joint_id], [value], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_P, [hand_id], [value], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_p(self, gripper_id, joint_id):
+    def get_hand_gripper_p(self, hand_id, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__get_tool_fittings_value(
-            FingerGripper.GET_HAND_GRIPPER_P, [joint_id], gripper_id=gripper_id
+            FingerGripper.GET_HAND_GRIPPER_P, [hand_id], gripper_id=gripper_id
         )
 
-    def set_hand_gripper_d(self, gripper_id, joint_id, value):
+    def set_hand_gripper_d(self, hand_id, value, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__set_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_D, [joint_id], [value], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_D, [hand_id], [value], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_d(self, gripper_id, joint_id):
+    def get_hand_gripper_d(self, hand_id, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__get_tool_fittings_value(
-            FingerGripper.GET_HAND_GRIPPER_D, [joint_id], gripper_id=gripper_id
+            FingerGripper.GET_HAND_GRIPPER_D, [hand_id], gripper_id=gripper_id
         )
 
-    def set_hand_gripper_i(self, gripper_id, joint_id, value):
+    def set_hand_gripper_i(self, hand_id, value, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__set_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_I, [joint_id], [value], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_I, [hand_id], [value], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_i(self, gripper_id, joint_id):
+    def get_hand_gripper_i(self, hand_id, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__get_tool_fittings_value(
-            FingerGripper.GET_HAND_GRIPPER_I, [joint_id], gripper_id=gripper_id
+            FingerGripper.GET_HAND_GRIPPER_I, [hand_id], gripper_id=gripper_id
         )
 
-    def set_hand_gripper_min_pressure(self, gripper_id, joint_id, value):
+    def set_hand_gripper_min_pressure(self, hand_id, value, gripper_id=14):
         """ Set the minimum starting force of the single joint of the gripper
 
         Args:
-            gripper_id (int): 1 ~ 254
-            joint_id (int): 1 ~ 6
+            hand_id (int): 1 ~ 6
             value (int): 0 ~ 254
+            gripper_id (int): 1 ~ 254
 
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__get_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_MIN_PRESSURE, [joint_id], [value], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_MIN_PRESSURE, [hand_id], [value], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_min_pressure(self, gripper_id, joint_id):
+    def get_hand_gripper_min_pressure(self, hand_id, gripper_id=14):
         """ Set the minimum starting force of the single joint of the gripper
 
         Args:
             gripper_id (int): 1 ~ 254
-            joint_id (int): 1 ~ 6
+            hand_id (int): 1 ~ 6
 
         Return:
             min pressure value (int): 0 ~ 254
 
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__get_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_MIN_PRESSURE, [joint_id], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_MIN_PRESSURE, [hand_id], gripper_id=gripper_id
         )
 
-    def set_hand_gripper_clockwise(self, gripper_id, joint_id, value):
+    def set_hand_gripper_clockwise(self, hand_id, value, gripper_id=14):
         """
         state: 0 or 1, 0 - disable, 1 - enable
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__set_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_CLOCKWISE, [joint_id], [value], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_CLOCKWISE, [hand_id], [value], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_clockwise(self, gripper_id, joint_id):
+    def get_hand_gripper_clockwise(self, hand_id, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__get_tool_fittings_value(
-            FingerGripper.GET_HAND_GRIPPER_CLOCKWISE, joint_id, gripper_id=gripper_id
+            FingerGripper.GET_HAND_GRIPPER_CLOCKWISE, hand_id, gripper_id=gripper_id
         )
 
-    def set_hand_gripper_counterclockwise(self, gripper_id, joint_id, value):
+    def set_hand_gripper_counterclockwise(self, hand_id, value, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__set_tool_fittings_value(
-            FingerGripper.SET_HAND_GRIPPER_COUNTERCLOCKWISE, [joint_id], [value], gripper_id=gripper_id
+            FingerGripper.SET_HAND_GRIPPER_COUNTERCLOCKWISE, [hand_id], [value], gripper_id=gripper_id
         )
 
-    def get_hand_gripper_counterclockwise(self, gripper_id, joint_id):
+    def get_hand_gripper_counterclockwise(self, hand_id, gripper_id=14):
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__get_tool_fittings_value(
-            FingerGripper.GET_HAND_GRIPPER_COUNTERCLOCKWISE, [joint_id], gripper_id=gripper_id
+            FingerGripper.GET_HAND_GRIPPER_COUNTERCLOCKWISE, [hand_id], gripper_id=gripper_id
         )
 
-    def get_hand_single_pressure_sensor(self, gripper_id, finger_id):
+    def get_hand_single_pressure_sensor(self, hand_id, gripper_id=14):
         """ Get the counterclockwise runnable error of the single joint of the gripper
 
        Args:
            gripper_id (int): 1 ~ 254
-           finger_id (int): 1 ~ 5
+           hand_id (int): 1 ~ 6
 
        Return:
            int: 0 ~ 4096
 
        """
+        self.calibration_parameters(class_name=self.__class__.__name__, hand_id=hand_id)
         return self.__get_tool_fittings_value(
-            FingerGripper.GET_HAND_SINGLE_PRESSURE_SENSOR, [finger_id], gripper_id=gripper_id
+            FingerGripper.GET_HAND_SINGLE_PRESSURE_SENSOR, [hand_id], gripper_id=gripper_id
         )
 
-    def get_hand_all_pressure_sensor(self, gripper_id):
+    def get_hand_all_pressure_sensor(self, gripper_id=14):
         """ Get the counterclockwise runnable error of the single joint of the gripper
 
         Args:
@@ -2567,7 +2600,7 @@ class MercuryCommandGenerator(DataProcessor):
             FingerGripper.GET_HAND_ALL_PRESSURE_SENSOR, gripper_id=gripper_id
         )
 
-    def set_hand_gripper_pinch_action_speed_consort(self, gripper_id, pinch_pose, rank_mode, idle_flag=None):
+    def set_hand_gripper_pinch_action_speed_consort(self, pinch_pose, rank_mode, gripper_id=14, idle_flag=None):
         """ Setting the gripper pinching action-speed coordination
 
         Args:

{pymycobot-3.5.0.dev10 → pymycobot-3.5.0.dev11}/pymycobot/robot_info.py

@@ -227,16 +227,16 @@ def _interpret_status_code(language, status_code):
 class RobotLimit:
     robot_limit = {
         "Mercury":{
-            "joint_id":[1,2,3,4,5,6,11,12,13],
-            "angles_min":[-165, -50, -173, -165, -165, -20, -180, -60, -140, -120],
-            "angles_max":[165, 95, 5, 165, 165, 265, 180, 0, 190, 120],
+            "joint_id":[1,2,3,4,5,6,11,12],
+            "angles_min":[-165, -55, -173, -165, -20, -180, -60, -138],
+            "angles_max":[165, 95, 5, 165, 265, 180, 0, 188],
             "coords_min":[-351.11, -272.12, -262.91, -180, -180, -180],
             "coords_max":[566.92, 645.91, 655.13, 180, 180, 180]
         },
         "MercurySocket":{
-            "joint_id":[1,2,3,4,5,6,11,12,13],
-            "angles_min":[-165, -50, -173, -165, -20, -180, -60, -140, -120],
-            "angles_max":[165, 95, 5, 165, 265, 180, 0, 190, 120],
+            "joint_id":[1,2,3,4,5,6,11,12],
+            "angles_min":[-165, -55, -173, -165, -20, -180, -60, -138],
+            "angles_max":[165, 95, 5, 165, 265, 180, 0, 188],
             "coords_min":[-351.11, -272.12, -262.91, -180, -180, -180],
             "coords_max":[566.92, 645.91, 655.13, 180, 180, 180]
         },

{pymycobot-3.5.0.dev10 → pymycobot-3.5.0.dev11/pymycobot.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev10
+Version: 3.5.0.dev11
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics