pymycobot 3.5.0.dev10__tar.gz → 3.5.0.dev12__tar.gz

{pymycobot-3.5.0.dev10/pymycobot.egg-info → pymycobot-3.5.0.dev12}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev10
+Version: 3.5.0.dev12
 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.dev12}/pymycobot/__init__.py

@@ -87,7 +87,7 @@ if sys.platform == "linux":
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.5.0dev10" 
+__version__ = "3.5.0dev12" 
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

{pymycobot-3.5.0.dev10 → pymycobot-3.5.0.dev12}/pymycobot/error.py

@@ -93,16 +93,26 @@ def check_value_type(parameter, value_type, exception_class, _type):
             "The acceptable parameter {} should be an {}, but the received {}".format(parameter, _type, value_type))
 
 
-def check_coords(value, robot_limit, class_name, exception_class):
+def check_coords(value, robot_limit, class_name, exception_class, serial_port=None):
     if not isinstance(value, list):
         raise exception_class("`coords` must be a list.")
     if len(value) != 6:
         raise exception_class("The length of `coords` must be 6.")
+    if serial_port:
+        if serial_port == "/dev/left_arm":
+            min_coord = robot_limit[class_name]["left_coords_min"]
+            max_coord = robot_limit[class_name]["left_coords_max"]
+        elif serial_port == "/dev/right_arm":
+            min_coord = robot_limit[class_name]["right_coords_min"]
+            max_coord = robot_limit[class_name]["right_coords_max"]
+        else:
+            min_coord = robot_limit[class_name]["coords_min"]
+            max_coord = robot_limit[class_name]["coords_max"]
     for idx, coord in enumerate(value):
-        if not robot_limit[class_name]["coords_min"][idx] <= coord <= robot_limit[class_name]["coords_max"][idx]:
+        if not min_coord[idx] <= coord <= max_coord[idx]:
             raise exception_class(
                 "Has invalid coord value, error on index {0}. received {3} .but angle should be {1} ~ {2}.".format(
-                    idx, robot_limit[class_name]["coords_min"][idx], robot_limit[class_name]["coords_max"][idx], coord
+                    idx, min_coord, max_coord, coord
                 )
             )
 
@@ -291,8 +301,8 @@ 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]:
@@ -316,15 +326,26 @@ def calibration_parameters(**kwargs):
 
             elif parameter == 'coord':
                 index = kwargs.get('coord_id', None) - 1
-                if value < robot_limit[class_name]["coords_min"][index] or value > robot_limit[class_name]["coords_max"][index]:
+                serial_port = kwargs.get('serial_port', None)
+                if serial_port == "/dev/left_arm":
+                    min_coord = robot_limit[class_name]["left_coords_min"][index]
+                    max_coord = robot_limit[class_name]["left_coords_max"][index]
+                elif serial_port == "/dev/right_arm":
+                    min_coord = robot_limit[class_name]["right_coords_min"][index]
+                    max_coord = robot_limit[class_name]["right_coords_max"][index]
+                else:
+                    min_coord = robot_limit[class_name]["coords_min"][index]
+                    max_coord = robot_limit[class_name]["coords_max"][index]
+                if value < min_coord or value > min_coord:
                     raise MercuryDataException(
                         "The coord value of {} exceeds the limit, and the limit range is {} ~ {}".format(
-                            value, robot_limit[class_name]["coords_min"][index], robot_limit[class_name]["coords_max"][index]
+                            value, min_coord, max_coord
                         )
                     )
             elif parameter == 'coords':
+                serial_port = kwargs.get('serial_port', None)
                 check_coords(value, robot_limit, class_name,
-                             MercuryDataException)
+                             MercuryDataException, serial_port)
 
             elif parameter == 'speed':
                 if not 1 <= value <= 100:
@@ -413,6 +434,11 @@ 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.dev12}/pymycobot/mercury_api.py

@@ -167,7 +167,8 @@ class MercuryCommandGenerator(DataProcessor):
                 ProtocolCode.JOG_BASE_INCREMENT_COORD,
                 ProtocolCode.WRITE_MOVE_C,
                 ProtocolCode.JOG_RPY,
-                ProtocolCode.WRITE_MOVE_C_R] and self.sync_mode:
+                ProtocolCode.WRITE_MOVE_C_R,
+                ProtocolCode.MERCURY_DRAG_TECH_EXECUTE] and self.sync_mode:
             wait_time = 300
             is_in_position = True
             big_wait_time = True
@@ -396,12 +397,12 @@ 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:
@@ -984,7 +985,7 @@ class MercuryCommandGenerator(DataProcessor):
             speed (int): 1 ~ 100
         """
         self.calibration_parameters(
-            class_name=self.__class__.__name__, coord_id=coord_id, coord=coord, speed=speed)
+            class_name=self.__class__.__name__, coord_id=coord_id, coord=coord, speed=speed, serial_port=self._serial_port.port)
         if coord_id < 4:
             coord = self._coord2int(coord)
         else:
@@ -1000,7 +1001,7 @@ class MercuryCommandGenerator(DataProcessor):
             speed (int): 1 ~ 100
         """
         self.calibration_parameters(
-            class_name=self.__class__.__name__, coords=coords, speed=speed)
+            class_name=self.__class__.__name__, coords=coords, speed=speed, serial_port=self._serial_port.port)
         coord_list = []
         for idx in range(3):
             coord_list.append(self._coord2int(coords[idx]))
@@ -1036,7 +1037,7 @@ 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 +2111,15 @@ 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 +2316,94 @@ 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 +2419,50 @@ 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 +2473,121 @@ 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 +2601,7 @@ 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.dev12}/pymycobot/robot_info.py

@@ -227,18 +227,26 @@ 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]
+            "coords_max":[566.92, 645.91, 655.13, 180, 180, 180],
+            "left_coords_min":[-351.11, -272.12, -262.91, -180, -180, -180],
+            "left_coords_max":[566.92, 645.91, 655.13, 180, 180, 180],
+            "right_coords_min":[-351.11, -645.91, -262.91, -180, -180, -180],
+            "right_coords_max":[566.92, 272.12, 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]
+            "coords_max":[566.92, 645.91, 655.13, 180, 180, 180],
+            "left_coords_min":[-351.11, -272.12, -262.91, -180, -180, -180],
+            "left_coords_max":[566.92, 645.91, 655.13, 180, 180, 180],
+            "right_coords_min":[-351.11, -645.91, -262.91, -180, -180, -180],
+            "right_coords_max":[566.92, 272.12, 655.13, 180, 180, 180]
         },
         "MyCobot": {
             "id": [1, 2, 3, 4, 5, 6, 7],

{pymycobot-3.5.0.dev10 → pymycobot-3.5.0.dev12/pymycobot.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev10
+Version: 3.5.0.dev12
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics