wujihandpy 0.2.1__cp311-cp311-manylinux_2_28_x86_64.whl → 1.2.0b0.dev0__cp311-cp311-manylinux_2_28_x86_64.whl
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- wujihandpy/__init__.py +2 -2
- wujihandpy/_core/__init__.pyi +521 -0
- wujihandpy/_core/filter.pyi +8 -0
- wujihandpy/_core/logging.pyi +65 -0
- wujihandpy/_core.cpython-311-x86_64-linux-gnu.so +0 -0
- wujihandpy/_version.py +3 -3
- {wujihandpy-0.2.1.dist-info → wujihandpy-1.2.0b0.dev0.dist-info}/METADATA +72 -36
- wujihandpy-1.2.0b0.dev0.dist-info/RECORD +17 -0
- wujihandpy/_core.pyi +0 -266
- wujihandpy-0.2.1.dist-info/RECORD +0 -16
- wujihandpy.libs/libwujihandcpp-443a855b.so +0 -0
- {wujihandpy-0.2.1.dist-info → wujihandpy-1.2.0b0.dev0.dist-info}/WHEEL +0 -0
- {wujihandpy-0.2.1.dist-info → wujihandpy-1.2.0b0.dev0.dist-info}/licenses/LICENSE +0 -0
wujihandpy/__init__.py
CHANGED
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from __future__ import annotations
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import numpy
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import numpy.typing
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import typing
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from . import filter
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from . import logging
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__all__: list[str] = ['Finger', 'Hand', 'IController', 'Joint', 'filter', 'logging']
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class Finger:
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def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
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...
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def get_joint_bus_voltage(self) -> numpy.typing.NDArray[numpy.float32]:
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def get_joint_error_code(self) -> numpy.typing.NDArray[numpy.uint32]:
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def get_joint_hardware_date(self) -> numpy.typing.NDArray[numpy.uint32]:
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def get_joint_hardware_version(self) -> numpy.typing.NDArray[numpy.uint32]:
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def get_joint_lower_limit(self) -> numpy.typing.NDArray[numpy.float64]:
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def get_joint_temperature(self) -> numpy.typing.NDArray[numpy.float32]:
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def get_joint_upper_limit(self) -> numpy.typing.NDArray[numpy.float64]:
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def joint(self, index: typing.SupportsInt) -> Joint:
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def read_joint_actual_position(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
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def read_joint_actual_position_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
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def read_joint_actual_position_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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def read_joint_bus_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float32]:
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def read_joint_bus_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float32]]:
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def read_joint_bus_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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def read_joint_error_code(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
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def read_joint_error_code_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
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def read_joint_error_code_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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def read_joint_hardware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
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def read_joint_hardware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
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def read_joint_hardware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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def read_joint_hardware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
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def read_joint_hardware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
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def read_joint_hardware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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def read_joint_lower_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
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def read_joint_lower_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
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def read_joint_lower_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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def read_joint_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float32]:
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def read_joint_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float32]]:
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def read_joint_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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def read_joint_upper_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
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def read_joint_upper_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
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def read_joint_upper_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_control_mode(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_control_mode(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_control_mode_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_control_mode_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_control_mode_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_control_mode_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_current_limit(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_current_limit(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_current_limit_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_current_limit_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_current_limit_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_current_limit_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_enabled(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_enabled(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_enabled_async(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_enabled_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_enabled_unchecked(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_enabled_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_reset_error(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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def write_joint_reset_error(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
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def write_joint_reset_error_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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def write_joint_reset_error_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_reset_error_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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def write_joint_reset_error_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_sin_level(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_sin_level(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
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def write_joint_sin_level_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_sin_level_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_sin_level_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_sin_level_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
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@typing.overload
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def write_joint_target_position(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
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def write_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> None:
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def write_joint_target_position_async(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_target_position_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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@typing.overload
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def write_joint_target_position_unchecked(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
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def write_joint_target_position_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> None:
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class Hand:
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def __init__(self, serial_number: str | None = None, usb_pid: typing.SupportsInt = -1, usb_vid: typing.SupportsInt = 1155, mask: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_] | None = None) -> None:
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def finger(self, index: typing.SupportsInt) -> Finger:
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def get_firmware_date(self) -> numpy.uint32:
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def get_firmware_version(self) -> numpy.uint32:
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def get_handedness(self) -> numpy.uint8:
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def get_input_voltage(self) -> numpy.float32:
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def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
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def get_joint_bus_voltage(self) -> numpy.typing.NDArray[numpy.float32]:
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def get_joint_error_code(self) -> numpy.typing.NDArray[numpy.uint32]:
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def get_joint_hardware_date(self) -> numpy.typing.NDArray[numpy.uint32]:
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def get_joint_hardware_version(self) -> numpy.typing.NDArray[numpy.uint32]:
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def get_joint_lower_limit(self) -> numpy.typing.NDArray[numpy.float64]:
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def get_joint_temperature(self) -> numpy.typing.NDArray[numpy.float32]:
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def get_joint_upper_limit(self) -> numpy.typing.NDArray[numpy.float64]:
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def get_system_time(self) -> numpy.uint32:
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def get_temperature(self) -> numpy.float32:
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def read_firmware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
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def read_firmware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
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def read_firmware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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def read_firmware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
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def read_firmware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
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def read_firmware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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def read_handedness(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint8:
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def read_handedness_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint8]:
|
|
231
|
+
...
|
|
232
|
+
def read_handedness_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
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233
|
+
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|
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234
|
+
def read_input_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
|
|
235
|
+
...
|
|
236
|
+
def read_input_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
|
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|
+
...
|
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238
|
+
def read_input_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
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239
|
+
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|
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240
|
+
def read_joint_actual_position(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
|
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|
+
...
|
|
242
|
+
def read_joint_actual_position_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
|
|
243
|
+
...
|
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244
|
+
def read_joint_actual_position_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
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245
|
+
...
|
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246
|
+
def read_joint_bus_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float32]:
|
|
247
|
+
...
|
|
248
|
+
def read_joint_bus_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float32]]:
|
|
249
|
+
...
|
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250
|
+
def read_joint_bus_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
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251
|
+
...
|
|
252
|
+
def read_joint_error_code(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
|
|
253
|
+
...
|
|
254
|
+
def read_joint_error_code_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
|
|
255
|
+
...
|
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256
|
+
def read_joint_error_code_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
257
|
+
...
|
|
258
|
+
def read_joint_hardware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
|
|
259
|
+
...
|
|
260
|
+
def read_joint_hardware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
|
|
261
|
+
...
|
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262
|
+
def read_joint_hardware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
263
|
+
...
|
|
264
|
+
def read_joint_hardware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
|
|
265
|
+
...
|
|
266
|
+
def read_joint_hardware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
|
|
267
|
+
...
|
|
268
|
+
def read_joint_hardware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
269
|
+
...
|
|
270
|
+
def read_joint_lower_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
|
|
271
|
+
...
|
|
272
|
+
def read_joint_lower_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
|
|
273
|
+
...
|
|
274
|
+
def read_joint_lower_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
275
|
+
...
|
|
276
|
+
def read_joint_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float32]:
|
|
277
|
+
...
|
|
278
|
+
def read_joint_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float32]]:
|
|
279
|
+
...
|
|
280
|
+
def read_joint_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
281
|
+
...
|
|
282
|
+
def read_joint_upper_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
|
|
283
|
+
...
|
|
284
|
+
def read_joint_upper_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
|
|
285
|
+
...
|
|
286
|
+
def read_joint_upper_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
287
|
+
...
|
|
288
|
+
def read_system_time(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
|
|
289
|
+
...
|
|
290
|
+
def read_system_time_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
|
|
291
|
+
...
|
|
292
|
+
def read_system_time_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
293
|
+
...
|
|
294
|
+
def read_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
|
|
295
|
+
...
|
|
296
|
+
def read_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
|
|
297
|
+
...
|
|
298
|
+
def read_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
299
|
+
...
|
|
300
|
+
def realtime_controller(self, enable_upstream: bool, filter: filter.IFilter) -> IController:
|
|
301
|
+
...
|
|
302
|
+
@typing.overload
|
|
303
|
+
def write_joint_control_mode(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
304
|
+
...
|
|
305
|
+
@typing.overload
|
|
306
|
+
def write_joint_control_mode(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
307
|
+
...
|
|
308
|
+
@typing.overload
|
|
309
|
+
def write_joint_control_mode_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
310
|
+
...
|
|
311
|
+
@typing.overload
|
|
312
|
+
def write_joint_control_mode_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
313
|
+
...
|
|
314
|
+
@typing.overload
|
|
315
|
+
def write_joint_control_mode_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
316
|
+
...
|
|
317
|
+
@typing.overload
|
|
318
|
+
def write_joint_control_mode_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
319
|
+
...
|
|
320
|
+
@typing.overload
|
|
321
|
+
def write_joint_current_limit(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
322
|
+
...
|
|
323
|
+
@typing.overload
|
|
324
|
+
def write_joint_current_limit(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
325
|
+
...
|
|
326
|
+
@typing.overload
|
|
327
|
+
def write_joint_current_limit_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
328
|
+
...
|
|
329
|
+
@typing.overload
|
|
330
|
+
def write_joint_current_limit_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
331
|
+
...
|
|
332
|
+
@typing.overload
|
|
333
|
+
def write_joint_current_limit_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
334
|
+
...
|
|
335
|
+
@typing.overload
|
|
336
|
+
def write_joint_current_limit_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
337
|
+
...
|
|
338
|
+
@typing.overload
|
|
339
|
+
def write_joint_enabled(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
340
|
+
...
|
|
341
|
+
@typing.overload
|
|
342
|
+
def write_joint_enabled(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
343
|
+
...
|
|
344
|
+
@typing.overload
|
|
345
|
+
def write_joint_enabled_async(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
346
|
+
...
|
|
347
|
+
@typing.overload
|
|
348
|
+
def write_joint_enabled_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
349
|
+
...
|
|
350
|
+
@typing.overload
|
|
351
|
+
def write_joint_enabled_unchecked(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
352
|
+
...
|
|
353
|
+
@typing.overload
|
|
354
|
+
def write_joint_enabled_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
355
|
+
...
|
|
356
|
+
@typing.overload
|
|
357
|
+
def write_joint_reset_error(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
358
|
+
...
|
|
359
|
+
@typing.overload
|
|
360
|
+
def write_joint_reset_error(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
361
|
+
...
|
|
362
|
+
@typing.overload
|
|
363
|
+
def write_joint_reset_error_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
364
|
+
...
|
|
365
|
+
@typing.overload
|
|
366
|
+
def write_joint_reset_error_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
367
|
+
...
|
|
368
|
+
@typing.overload
|
|
369
|
+
def write_joint_reset_error_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
370
|
+
...
|
|
371
|
+
@typing.overload
|
|
372
|
+
def write_joint_reset_error_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
373
|
+
...
|
|
374
|
+
@typing.overload
|
|
375
|
+
def write_joint_sin_level(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
376
|
+
...
|
|
377
|
+
@typing.overload
|
|
378
|
+
def write_joint_sin_level(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
379
|
+
...
|
|
380
|
+
@typing.overload
|
|
381
|
+
def write_joint_sin_level_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
382
|
+
...
|
|
383
|
+
@typing.overload
|
|
384
|
+
def write_joint_sin_level_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
385
|
+
...
|
|
386
|
+
@typing.overload
|
|
387
|
+
def write_joint_sin_level_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
388
|
+
...
|
|
389
|
+
@typing.overload
|
|
390
|
+
def write_joint_sin_level_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
391
|
+
...
|
|
392
|
+
@typing.overload
|
|
393
|
+
def write_joint_target_position(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
394
|
+
...
|
|
395
|
+
@typing.overload
|
|
396
|
+
def write_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
397
|
+
...
|
|
398
|
+
@typing.overload
|
|
399
|
+
def write_joint_target_position_async(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
400
|
+
...
|
|
401
|
+
@typing.overload
|
|
402
|
+
def write_joint_target_position_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
403
|
+
...
|
|
404
|
+
@typing.overload
|
|
405
|
+
def write_joint_target_position_unchecked(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
406
|
+
...
|
|
407
|
+
@typing.overload
|
|
408
|
+
def write_joint_target_position_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
409
|
+
...
|
|
410
|
+
class IController:
|
|
411
|
+
def __enter__(self) -> IController:
|
|
412
|
+
...
|
|
413
|
+
def __exit__(self, arg0: typing.Any, arg1: typing.Any, arg2: typing.Any) -> None:
|
|
414
|
+
...
|
|
415
|
+
def close(self) -> None:
|
|
416
|
+
...
|
|
417
|
+
def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
|
|
418
|
+
...
|
|
419
|
+
def set_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
|
|
420
|
+
...
|
|
421
|
+
class Joint:
|
|
422
|
+
def get_joint_actual_position(self) -> numpy.float64:
|
|
423
|
+
...
|
|
424
|
+
def get_joint_bus_voltage(self) -> numpy.float32:
|
|
425
|
+
...
|
|
426
|
+
def get_joint_error_code(self) -> numpy.uint32:
|
|
427
|
+
...
|
|
428
|
+
def get_joint_hardware_date(self) -> numpy.uint32:
|
|
429
|
+
...
|
|
430
|
+
def get_joint_hardware_version(self) -> numpy.uint32:
|
|
431
|
+
...
|
|
432
|
+
def get_joint_lower_limit(self) -> numpy.float64:
|
|
433
|
+
...
|
|
434
|
+
def get_joint_temperature(self) -> numpy.float32:
|
|
435
|
+
...
|
|
436
|
+
def get_joint_upper_limit(self) -> numpy.float64:
|
|
437
|
+
...
|
|
438
|
+
def read_joint_actual_position(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float64:
|
|
439
|
+
...
|
|
440
|
+
def read_joint_actual_position_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float64]:
|
|
441
|
+
...
|
|
442
|
+
def read_joint_actual_position_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
443
|
+
...
|
|
444
|
+
def read_joint_bus_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
|
|
445
|
+
...
|
|
446
|
+
def read_joint_bus_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
|
|
447
|
+
...
|
|
448
|
+
def read_joint_bus_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
449
|
+
...
|
|
450
|
+
def read_joint_error_code(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
|
|
451
|
+
...
|
|
452
|
+
def read_joint_error_code_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
|
|
453
|
+
...
|
|
454
|
+
def read_joint_error_code_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
455
|
+
...
|
|
456
|
+
def read_joint_hardware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
|
|
457
|
+
...
|
|
458
|
+
def read_joint_hardware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
|
|
459
|
+
...
|
|
460
|
+
def read_joint_hardware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
461
|
+
...
|
|
462
|
+
def read_joint_hardware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
|
|
463
|
+
...
|
|
464
|
+
def read_joint_hardware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
|
|
465
|
+
...
|
|
466
|
+
def read_joint_hardware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
467
|
+
...
|
|
468
|
+
def read_joint_lower_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float64:
|
|
469
|
+
...
|
|
470
|
+
def read_joint_lower_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float64]:
|
|
471
|
+
...
|
|
472
|
+
def read_joint_lower_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
473
|
+
...
|
|
474
|
+
def read_joint_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
|
|
475
|
+
...
|
|
476
|
+
def read_joint_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
|
|
477
|
+
...
|
|
478
|
+
def read_joint_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
479
|
+
...
|
|
480
|
+
def read_joint_upper_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float64:
|
|
481
|
+
...
|
|
482
|
+
def read_joint_upper_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float64]:
|
|
483
|
+
...
|
|
484
|
+
def read_joint_upper_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
485
|
+
...
|
|
486
|
+
def write_joint_control_mode(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
487
|
+
...
|
|
488
|
+
def write_joint_control_mode_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
489
|
+
...
|
|
490
|
+
def write_joint_control_mode_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
491
|
+
...
|
|
492
|
+
def write_joint_current_limit(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
493
|
+
...
|
|
494
|
+
def write_joint_current_limit_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
495
|
+
...
|
|
496
|
+
def write_joint_current_limit_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
497
|
+
...
|
|
498
|
+
def write_joint_enabled(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
499
|
+
...
|
|
500
|
+
def write_joint_enabled_async(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
501
|
+
...
|
|
502
|
+
def write_joint_enabled_unchecked(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
503
|
+
...
|
|
504
|
+
def write_joint_reset_error(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
505
|
+
...
|
|
506
|
+
def write_joint_reset_error_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
507
|
+
...
|
|
508
|
+
def write_joint_reset_error_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
509
|
+
...
|
|
510
|
+
def write_joint_sin_level(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
511
|
+
...
|
|
512
|
+
def write_joint_sin_level_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
513
|
+
...
|
|
514
|
+
def write_joint_sin_level_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
515
|
+
...
|
|
516
|
+
def write_joint_target_position(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
517
|
+
...
|
|
518
|
+
def write_joint_target_position_async(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
519
|
+
...
|
|
520
|
+
def write_joint_target_position_unchecked(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
521
|
+
...
|
|
@@ -0,0 +1,65 @@
|
|
|
1
|
+
from __future__ import annotations
|
|
2
|
+
import typing
|
|
3
|
+
__all__: list[str] = ['Level', 'flush', 'set_log_level', 'set_log_path', 'set_log_to_console', 'set_log_to_file']
|
|
4
|
+
class Level:
|
|
5
|
+
"""
|
|
6
|
+
Members:
|
|
7
|
+
|
|
8
|
+
Trace
|
|
9
|
+
|
|
10
|
+
Debug
|
|
11
|
+
|
|
12
|
+
Info
|
|
13
|
+
|
|
14
|
+
Warn
|
|
15
|
+
|
|
16
|
+
Error
|
|
17
|
+
|
|
18
|
+
Critical
|
|
19
|
+
|
|
20
|
+
Off
|
|
21
|
+
"""
|
|
22
|
+
Critical: typing.ClassVar[Level] # value = <Level.Critical: 5>
|
|
23
|
+
Debug: typing.ClassVar[Level] # value = <Level.Debug: 1>
|
|
24
|
+
Error: typing.ClassVar[Level] # value = <Level.Error: 4>
|
|
25
|
+
Info: typing.ClassVar[Level] # value = <Level.Info: 2>
|
|
26
|
+
Off: typing.ClassVar[Level] # value = <Level.Off: 6>
|
|
27
|
+
Trace: typing.ClassVar[Level] # value = <Level.Trace: 0>
|
|
28
|
+
Warn: typing.ClassVar[Level] # value = <Level.Warn: 3>
|
|
29
|
+
__members__: typing.ClassVar[dict[str, Level]] # value = {'Trace': <Level.Trace: 0>, 'Debug': <Level.Debug: 1>, 'Info': <Level.Info: 2>, 'Warn': <Level.Warn: 3>, 'Error': <Level.Error: 4>, 'Critical': <Level.Critical: 5>, 'Off': <Level.Off: 6>}
|
|
30
|
+
def __eq__(self, other: typing.Any) -> bool:
|
|
31
|
+
...
|
|
32
|
+
def __getstate__(self) -> int:
|
|
33
|
+
...
|
|
34
|
+
def __hash__(self) -> int:
|
|
35
|
+
...
|
|
36
|
+
def __index__(self) -> int:
|
|
37
|
+
...
|
|
38
|
+
def __init__(self, value: typing.SupportsInt) -> None:
|
|
39
|
+
...
|
|
40
|
+
def __int__(self) -> int:
|
|
41
|
+
...
|
|
42
|
+
def __ne__(self, other: typing.Any) -> bool:
|
|
43
|
+
...
|
|
44
|
+
def __repr__(self) -> str:
|
|
45
|
+
...
|
|
46
|
+
def __setstate__(self, state: typing.SupportsInt) -> None:
|
|
47
|
+
...
|
|
48
|
+
def __str__(self) -> str:
|
|
49
|
+
...
|
|
50
|
+
@property
|
|
51
|
+
def name(self) -> str:
|
|
52
|
+
...
|
|
53
|
+
@property
|
|
54
|
+
def value(self) -> int:
|
|
55
|
+
...
|
|
56
|
+
def flush() -> None:
|
|
57
|
+
...
|
|
58
|
+
def set_log_level(value: Level) -> None:
|
|
59
|
+
...
|
|
60
|
+
def set_log_path(value: str) -> None:
|
|
61
|
+
...
|
|
62
|
+
def set_log_to_console(value: bool) -> None:
|
|
63
|
+
...
|
|
64
|
+
def set_log_to_file(value: bool) -> None:
|
|
65
|
+
...
|
|
Binary file
|
wujihandpy/_version.py
CHANGED
|
@@ -28,7 +28,7 @@ version_tuple: VERSION_TUPLE
|
|
|
28
28
|
commit_id: COMMIT_ID
|
|
29
29
|
__commit_id__: COMMIT_ID
|
|
30
30
|
|
|
31
|
-
__version__ = version = '
|
|
32
|
-
__version_tuple__ = version_tuple = (
|
|
31
|
+
__version__ = version = '1.2.0b0.dev0'
|
|
32
|
+
__version_tuple__ = version_tuple = (1, 2, 0, 'b0', 'dev0')
|
|
33
33
|
|
|
34
|
-
__commit_id__ = commit_id = '
|
|
34
|
+
__commit_id__ = commit_id = 'ge3f1c9f42'
|
|
@@ -1,6 +1,6 @@
|
|
|
1
1
|
Metadata-Version: 2.2
|
|
2
2
|
Name: wujihandpy
|
|
3
|
-
Version:
|
|
3
|
+
Version: 1.2.0b0.dev0
|
|
4
4
|
Summary: Python bindings for WujiHandCpp
|
|
5
5
|
Author-Email: Zihan Qin <zihanqin2048@gmail.com>
|
|
6
6
|
Maintainer-Email: Wuji Technology <support@pan-motor.com>
|
|
@@ -50,12 +50,26 @@ pip install wujihandpy
|
|
|
50
50
|
对于 Linux 用户，需要额外配置 udev 规则以允许非 root 用户访问 USB 设备，可在终端中输入：
|
|
51
51
|
|
|
52
52
|
```bash
|
|
53
|
-
echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="0483",
|
|
53
|
+
echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="0483", MODE="0666"' |
|
|
54
54
|
sudo tee /etc/udev/rules.d/95-wujihand.rules &&
|
|
55
55
|
sudo udevadm control --reload-rules &&
|
|
56
56
|
sudo udevadm trigger
|
|
57
57
|
```
|
|
58
58
|
|
|
59
|
+
### 常见错误
|
|
60
|
+
|
|
61
|
+
若遇到报错 `Could not find a version that satisfies the requirement`，请尝试升级 pip：
|
|
62
|
+
|
|
63
|
+
```bash
|
|
64
|
+
python3 -m pip install --upgrade pip
|
|
65
|
+
```
|
|
66
|
+
|
|
67
|
+
然后使用新的pip重新安装：
|
|
68
|
+
|
|
69
|
+
```bash
|
|
70
|
+
python3 -m pip install wujihandpy
|
|
71
|
+
```
|
|
72
|
+
|
|
59
73
|
## 支持的 CPU 架构
|
|
60
74
|
|
|
61
75
|
- x86_64
|
|
@@ -103,8 +117,8 @@ hand = wujihandpy.Hand()
|
|
|
103
117
|
### 读数据
|
|
104
118
|
|
|
105
119
|
```python
|
|
106
|
-
def read_<dataname>(self) ->
|
|
107
|
-
def read_<dataname>(self) -> np.
|
|
120
|
+
def read_<dataname>(self) -> datatype
|
|
121
|
+
def read_<dataname>(self) -> np.ndarray[datatype] # For bulk-read
|
|
108
122
|
```
|
|
109
123
|
|
|
110
124
|
所有可使用的数据均定义在 `wujihandpy/_core.pyi` 中。
|
|
@@ -120,62 +134,70 @@ time = hand.read_system_time()
|
|
|
120
134
|
例如，读取第1个手指（食指），第0个关节的当前位置数据：
|
|
121
135
|
|
|
122
136
|
```python
|
|
123
|
-
position = hand.finger(1).joint(0).
|
|
137
|
+
position = hand.finger(1).joint(0).read_joint_actual_position()
|
|
124
138
|
```
|
|
125
139
|
|
|
140
|
+
关节角度为 `np.float64` 类型，单位为弧度，零点和正方向与 [URDF文件](https://github.com/Wuji-Technology-Co-Ltd/wujihand-urdf) 中定义的相同。
|
|
141
|
+
|
|
126
142
|
用一条指令读取多个数据也是可行的，这被称为**批量读 (Bulk-Read)**。
|
|
127
143
|
|
|
128
144
|
例如，以下指令读取整手所有（20个）关节的当前位置数据：
|
|
129
145
|
|
|
130
146
|
```python
|
|
131
|
-
positions = hand.
|
|
147
|
+
positions = hand.read_joint_actual_position()
|
|
132
148
|
```
|
|
133
149
|
|
|
134
|
-
进行批量读时，函数返回包含所有数据的 `np.
|
|
150
|
+
进行批量读时，函数返回包含所有数据的 `np.ndarray[np.float64]`：
|
|
135
151
|
|
|
136
152
|
```python
|
|
137
|
-
>>> np.set_printoptions(formatter={'int': lambda x: hex(x)})
|
|
138
153
|
>>> print(positions)
|
|
139
|
-
[[
|
|
140
|
-
[
|
|
141
|
-
[
|
|
142
|
-
[
|
|
143
|
-
[
|
|
154
|
+
[[ 0.975 0.523 0.271 -0.45 ]
|
|
155
|
+
[ 0.382 0.241 -0.003 -0.275]
|
|
156
|
+
[-0.299 0.329 0.067 -0.286]
|
|
157
|
+
[-0.122 0.228 0.315 -0.178]
|
|
158
|
+
[ 0.205 0.087 0.288 -0.149]]
|
|
144
159
|
```
|
|
145
160
|
|
|
146
161
|
`read` 函数会阻塞，直到读取完成。保证当函数返回时，读取一定成功。
|
|
147
162
|
|
|
148
163
|
### 写数据
|
|
149
164
|
|
|
150
|
-
写数据拥有类似的API，但多了一个参数用于传递目标值：
|
|
165
|
+
写数据拥有类似的 API，但多了一个参数用于传递目标值：
|
|
151
166
|
|
|
152
167
|
```python
|
|
153
|
-
def write_<dataname>(self,
|
|
154
|
-
def write_<dataname>(self, np.
|
|
168
|
+
def write_<dataname>(self, datatype)
|
|
169
|
+
def write_<dataname>(self, np.ndarray[datatype]) # For bulk-write
|
|
155
170
|
```
|
|
156
171
|
|
|
157
172
|
例如，写入单个关节的目标位置数据：
|
|
158
173
|
|
|
159
174
|
```python
|
|
160
|
-
hand.finger(1).joint(0).
|
|
175
|
+
hand.finger(1).joint(0).write_joint_target_position(0.8)
|
|
161
176
|
```
|
|
162
177
|
|
|
163
|
-
|
|
178
|
+
各关节的合法角度范围可通过以下 API 获取：
|
|
164
179
|
|
|
165
|
-
|
|
180
|
+
```python
|
|
181
|
+
upper = < Hand / Finger / Joint >.read_joint_upper_limit()
|
|
182
|
+
lower = < Hand / Finger / Joint >.read_joint_lower_limit()
|
|
183
|
+
```
|
|
184
|
+
|
|
185
|
+
若写入的角度超出合法范围，会被自动限幅至最高/最低值。
|
|
186
|
+
|
|
187
|
+
**批量写**数据也是可行的，例如，批量为第一个手指写入目标位置数据：
|
|
166
188
|
|
|
167
189
|
```python
|
|
168
|
-
hand.finger(1).
|
|
190
|
+
hand.finger(1).write_joint_target_position(0.8)
|
|
169
191
|
```
|
|
170
192
|
|
|
171
193
|
如果每个关节的目标值不同，可以传入一个包含所有目标值的 `np.array`：
|
|
172
194
|
|
|
173
195
|
```python
|
|
174
|
-
hand.finger(1).
|
|
196
|
+
hand.finger(1).write_joint_target_position(
|
|
175
197
|
np.array(
|
|
176
|
-
# J1
|
|
177
|
-
[
|
|
178
|
-
dtype=np.
|
|
198
|
+
# J1 J2 J3 J4
|
|
199
|
+
[0.8, 0.0, 0.8, 0.8],
|
|
200
|
+
dtype=np.float64,
|
|
179
201
|
)
|
|
180
202
|
)
|
|
181
203
|
```
|
|
@@ -187,23 +209,23 @@ hand.finger(1).write_joint_control_position(
|
|
|
187
209
|
读写函数均有对应的异步版本，函数名以 `_async` 作为后缀。
|
|
188
210
|
|
|
189
211
|
``` python
|
|
190
|
-
async def read_<dataname>_async(self) ->
|
|
191
|
-
async def read_<dataname>_async(self) -> np.
|
|
192
|
-
async def write_<dataname>_async(self,
|
|
193
|
-
async def write_<dataname>_async(self, np.
|
|
212
|
+
async def read_<dataname>_async(self) -> datatype
|
|
213
|
+
async def read_<dataname>_async(self) -> np.ndarray[datatype] # For bulk-read
|
|
214
|
+
async def write_<dataname>_async(self, datatype)
|
|
215
|
+
async def write_<dataname>_async(self, np.ndarray[datatype]) # For bulk-write
|
|
194
216
|
```
|
|
195
217
|
|
|
196
|
-
|
|
218
|
+
异步接口需 `await`；等待期间不阻塞线程/事件循环，返回时保证读/写已经成功。
|
|
197
219
|
|
|
198
220
|
### Unchecked 读/写
|
|
199
221
|
|
|
200
222
|
如果不关心读/写是否成功，可以使用 Unchecked 版本的读/写函数，函数名以 `_unchecked` 作为后缀。
|
|
201
223
|
|
|
202
224
|
```python
|
|
203
|
-
def read_<dataname>_unchecked(self) ->
|
|
204
|
-
def read_<dataname>_unchecked(self) ->
|
|
205
|
-
def write_<dataname>_unchecked(self,
|
|
206
|
-
def write_<dataname>_unchecked(self, np.
|
|
225
|
+
def read_<dataname>_unchecked(self) -> None
|
|
226
|
+
def read_<dataname>_unchecked(self) -> None # For bulk-read
|
|
227
|
+
def write_<dataname>_unchecked(self, datatype)
|
|
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def write_<dataname>_unchecked(self, np.ndarray[datatype]) # For bulk-write
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```
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Unchecked 函数总是立即返回，不会阻塞，通常用于对实时性要求较高的场景。
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如果希望获取以往读/写的结果，可以使用 `get` 系列函数：
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```python
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def get_<dataname>(self) ->
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def get_<dataname>(self) -> np.
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def get_<dataname>(self) -> datatype
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def get_<dataname>(self) -> np.ndarray[datatype] # For bulk-read
|
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```
|
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`get` 系列函数同样不会阻塞，它总是立即返回最近一次读取到的数据，无论该数据来自 `read`、`async-read` 还是 `read-unchecked`。
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如果尚未请求过该数据，或请求尚未成功，`get` 函数的返回值是未定义的（通常为0）。
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+
### 实时控制
|
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+
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+
默认的读/写方式均带有缓冲池，积攒一段时间数据后才进行传输，最高读/写频率无法超过 100Hz。
|
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+
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+
对于需要流畅控制关节位置的场景，需使用 realtime_controller。
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+
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+
具体的控制示例可见 [example](example) 目录：
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单向写：[realtime.py](example/4.realtime.py)
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双向读/写：[realtime_duplex.py](example/5.realtime_duplex.py)
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+
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## 性能与优化
|
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WujihandPy 在充分保证易用性的同时，尽可能优化了性能与效率。
|
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我们强烈建议优先使用批量读/写以最大限度地发挥性能。
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+
对于需要流畅控制关节位置的场景，请务必使用 realtime_controller。
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## 许可证
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-
本项目采用 MIT 许可证，详情见 [LICENSE](LICENSE) 文件。
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本项目采用 MIT 许可证，详情见 [LICENSE](LICENSE) 文件。
|
|
@@ -0,0 +1,17 @@
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1
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+
wujihandpy/__init__.py,sha256=O6rhSCIkTvciLQraUMgmZjEaW7i5n40qQ6Z5oacN_rE,170
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2
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+
wujihandpy/_core.cpython-311-x86_64-linux-gnu.so,sha256=b7NXzp0P2QMN0NEDnF4kIN93JSraGLugBd2FgMTGM4M,1726817
|
|
3
|
+
wujihandpy/_version.py,sha256=L8uwUIZXTXLqLC4f-PzlcF2ERRcyX1GXwYycOjUEtRM,733
|
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4
|
+
wujihandpy/_core/__init__.pyi,sha256=clN3slFGQ2tgm0pUYejcfsWvk1XmWVFM5qKwssmwZd8,29287
|
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5
|
+
wujihandpy/_core/filter.pyi,sha256=dAkrbcYtfcM10eOQumdIvIoHo5ay3oUVOqIqAhFMv24,227
|
|
6
|
+
wujihandpy/_core/logging.pyi,sha256=nM87F9rV0BcpyiqD50WNJfAWICSmc45obMj5T1ZZQW0,1868
|
|
7
|
+
wujihandpy.libs/libblkid-a9167753.so.1.1.0,sha256=XVspUZDmtSMamCgSYDrDYNC-g6agPQCkqrDE0yb8sdY,356897
|
|
8
|
+
wujihandpy.libs/libmount-ec61bd71.so.1.1.0,sha256=8EmOB9QqeXTyAh0aE20fn-QVuG3vsF66wBcgZ6aX2V4,393873
|
|
9
|
+
wujihandpy.libs/libpcre2-8-516f4c9d.so.0.7.1,sha256=IcbljW_oKuAVlrAwKz8qtRZxfi1sQH_iKxPSoNpzsmU,547745
|
|
10
|
+
wujihandpy.libs/libselinux-d0805dcb.so.1,sha256=iYGaLO-LIy5-WEihMiXHpeJUXyq56DDqGU49JbpfTu4,195097
|
|
11
|
+
wujihandpy.libs/libudev-9765ffbd.so.1.6.11,sha256=32i9UQ4dXVdXAdwJfzJd7T9GMKvkkr42mIWW9mOGrI4,677489
|
|
12
|
+
wujihandpy.libs/libusb-1-1b307d35.0.so.0.2.0,sha256=5crhlK2KrW6d1ZRAWqh3dYy93CPE4KekXTbLeGGFIjw,126777
|
|
13
|
+
wujihandpy.libs/libuuid-95b83d40.so.1.3.0,sha256=Bj-_E8XyWfgC65o6pTuT9qLNcuA97EYDyCUUOfDR2q0,38041
|
|
14
|
+
wujihandpy-1.2.0b0.dev0.dist-info/METADATA,sha256=wD7UAAYV_YwyIceNAqqXe2cFWogLHzQLHjHJEl53FV8,8036
|
|
15
|
+
wujihandpy-1.2.0b0.dev0.dist-info/WHEEL,sha256=0nVYFYtHP36mg9PDPBgwu1BNnaNOMi9iSL0fSWdrzR4,118
|
|
16
|
+
wujihandpy-1.2.0b0.dev0.dist-info/RECORD,,
|
|
17
|
+
wujihandpy-1.2.0b0.dev0.dist-info/licenses/LICENSE,sha256=OLJ-MVXgwcjW8-kJ56ADWaMCCF39muljtSqRy74lr6M,1072
|
wujihandpy/_core.pyi
DELETED
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__all__: list[str] = ['Finger', 'Hand', 'Joint']
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class Finger:
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def get_joint_position(self) -> numpy.typing.NDArray[numpy.int32]:
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def joint(self, index: typing.SupportsInt) -> Joint:
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|
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def write_joint_sin_level(self, value: numpy.uint16) -> None:
|
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|
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|
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|
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def write_joint_sin_level(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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|
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|
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...
|
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|
-
class Hand:
|
|
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|
-
def __init__(self, usb_vid: typing.SupportsInt = 1155, usb_pid: typing.SupportsInt = 22336) -> None:
|
|
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|
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|
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|
-
def finger(self, index: typing.SupportsInt) -> Finger:
|
|
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|
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|
-
def get_firmware_date(self) -> numpy.uint32:
|
|
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|
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|
-
def get_firmware_version(self) -> numpy.uint32:
|
|
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98
|
-
def get_input_voltage(self) -> numpy.float32:
|
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|
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|
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|
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def get_mcu_temperature(self) -> numpy.float32:
|
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|
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|
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def write_global_tpdo_id(self, value: numpy.uint16) -> None:
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|
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def write_joint_control_word(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
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|
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async def write_joint_control_word_async(self, value: numpy.uint16) -> None:
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async def write_joint_control_word_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_sin_level(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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async def write_joint_sin_level_async(self, value: numpy.uint16) -> None:
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async def write_joint_sin_level_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_sin_level_unchecked(self, value: numpy.uint16) -> None:
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def write_joint_sin_level_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_pdo_enabled(self, value: numpy.uint8) -> None:
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def write_pdo_enabled_unchecked(self, value: numpy.uint8) -> None:
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def write_pdo_interval(self, value: numpy.uint32) -> None:
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async def write_pdo_interval_async(self, value: numpy.uint32) -> None:
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def write_pdo_interval_unchecked(self, value: numpy.uint32) -> None:
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class Joint:
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def get_joint_position(self) -> numpy.int32:
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def read_joint_position(self) -> numpy.int32:
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async def read_joint_position_async(self) -> numpy.int32:
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def read_joint_position_unchecked(self) -> None:
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def write_joint_control_mode(self, value: numpy.uint16) -> None:
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async def write_joint_control_mode_async(self, value: numpy.uint16) -> None:
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def write_joint_control_mode_unchecked(self, value: numpy.uint16) -> None:
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def write_joint_control_position(self, value: numpy.int32) -> None:
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async def write_joint_control_position_async(self, value: numpy.int32) -> None:
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def write_joint_control_position_unchecked(self, value: numpy.int32) -> None:
|
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|
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def write_joint_control_word(self, value: numpy.uint16) -> None:
|
|
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|
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|
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async def write_joint_control_word_async(self, value: numpy.uint16) -> None:
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def write_joint_control_word_unchecked(self, value: numpy.uint16) -> None:
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def write_joint_sin_level(self, value: numpy.uint16) -> None:
|
|
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|
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|
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async def write_joint_sin_level_async(self, value: numpy.uint16) -> None:
|
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|
|
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|
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def write_joint_sin_level_unchecked(self, value: numpy.uint16) -> None:
|
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...
|
|
@@ -1,16 +0,0 @@
|
|
|
1
|
-
wujihandpy/__init__.py,sha256=DO3xWg1FjXJAaT-Mp6uIXExK9_t-VVGX_o6J7FqRKic,149
|
|
2
|
-
wujihandpy/_core.cpython-311-x86_64-linux-gnu.so,sha256=iZXr8Wde8v8-8fB0SUk9bIk44uX0HUkQfK33OayHaKA,369841
|
|
3
|
-
wujihandpy/_core.pyi,sha256=HRg3hYg3Jqq66OnPwYnm7bmeCTa8xdu48Qc2aelgSOs,10985
|
|
4
|
-
wujihandpy/_version.py,sha256=L7FNNupNt3DNk5BEVAhGB1zDwhUSqafOGAfWjsowcNw,712
|
|
5
|
-
wujihandpy.libs/libblkid-a9167753.so.1.1.0,sha256=XVspUZDmtSMamCgSYDrDYNC-g6agPQCkqrDE0yb8sdY,356897
|
|
6
|
-
wujihandpy.libs/libmount-ec61bd71.so.1.1.0,sha256=8EmOB9QqeXTyAh0aE20fn-QVuG3vsF66wBcgZ6aX2V4,393873
|
|
7
|
-
wujihandpy.libs/libpcre2-8-516f4c9d.so.0.7.1,sha256=IcbljW_oKuAVlrAwKz8qtRZxfi1sQH_iKxPSoNpzsmU,547745
|
|
8
|
-
wujihandpy.libs/libselinux-d0805dcb.so.1,sha256=iYGaLO-LIy5-WEihMiXHpeJUXyq56DDqGU49JbpfTu4,195097
|
|
9
|
-
wujihandpy.libs/libudev-9765ffbd.so.1.6.11,sha256=32i9UQ4dXVdXAdwJfzJd7T9GMKvkkr42mIWW9mOGrI4,677489
|
|
10
|
-
wujihandpy.libs/libusb-1-1b307d35.0.so.0.2.0,sha256=5crhlK2KrW6d1ZRAWqh3dYy93CPE4KekXTbLeGGFIjw,126777
|
|
11
|
-
wujihandpy.libs/libuuid-95b83d40.so.1.3.0,sha256=Bj-_E8XyWfgC65o6pTuT9qLNcuA97EYDyCUUOfDR2q0,38041
|
|
12
|
-
wujihandpy.libs/libwujihandcpp-443a855b.so,sha256=kKiTjxycyISQ-CcfzGkZ2hcVYMqApjU7jmd7PocynOU,68809
|
|
13
|
-
wujihandpy-0.2.1.dist-info/METADATA,sha256=n4G89h62p-vq-HiSIF7hNpuSDIiaa6axAUwmtdIYWj0,7084
|
|
14
|
-
wujihandpy-0.2.1.dist-info/WHEEL,sha256=0nVYFYtHP36mg9PDPBgwu1BNnaNOMi9iSL0fSWdrzR4,118
|
|
15
|
-
wujihandpy-0.2.1.dist-info/RECORD,,
|
|
16
|
-
wujihandpy-0.2.1.dist-info/licenses/LICENSE,sha256=OLJ-MVXgwcjW8-kJ56ADWaMCCF39muljtSqRy74lr6M,1072
|
|
Binary file
|
|
File without changes
|
|
File without changes
|