wujihandpy 0.5.2__cp313-cp313-win_amd64.whl → 1.0.0b2__cp313-cp313-win_amd64.whl
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- wujihandpy/__init__.py +5 -5
- wujihandpy/{_core.pyi → _core/__init__.pyi} +116 -128
- wujihandpy/_core/filter.pyi +8 -0
- wujihandpy/_core.cp313-win_amd64.pyd +0 -0
- wujihandpy/_version.py +3 -3
- wujihandpy-1.0.0b2.dist-info/DELVEWHEEL +2 -0
- {wujihandpy-0.5.2.dist-info → wujihandpy-1.0.0b2.dist-info}/METADATA +1 -1
- wujihandpy-1.0.0b2.dist-info/RECORD +13 -0
- wujihandpy.libs/{libusb-1.0-f227a173b895cb3e1548ee0bb7bb839c.dll → libusb-1.0-f6b00327b2d35f4dd383e7011be81e7c.dll} +0 -0
- wujihandpy-0.5.2.dist-info/DELVEWHEEL +0 -2
- wujihandpy-0.5.2.dist-info/RECORD +0 -12
- {wujihandpy-0.5.2.dist-info → wujihandpy-1.0.0b2.dist-info}/WHEEL +0 -0
- {wujihandpy-0.5.2.dist-info → wujihandpy-1.0.0b2.dist-info}/licenses/LICENSE +0 -0
wujihandpy/__init__.py
CHANGED
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@@ -2,17 +2,17 @@ from __future__ import annotations
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# start delvewheel patch
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def
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def _delvewheel_patch_1_11_2():
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import os
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if os.path.isdir(libs_dir := os.path.abspath(os.path.join(os.path.dirname(__file__), os.pardir, 'wujihandpy.libs'))):
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os.add_dll_directory(libs_dir)
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del
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_delvewheel_patch_1_11_2()
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del _delvewheel_patch_1_11_2
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# end delvewheel patch
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from ._core import
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from ._core import *
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from ._version import __version__
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__all__ = ["
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__all__ = ["__version__", 'Hand', 'Finger', 'Joint', 'IController', 'filter']
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@@ -2,8 +2,11 @@ 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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__all__: list[str] = ['Finger', 'Hand', 'IController', 'Joint', 'filter']
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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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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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@@ -14,14 +17,18 @@ class Finger:
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def get_joint_lower_limit(self) -> numpy.typing.NDArray[numpy.float64]:
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def get_joint_position(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) -> numpy.typing.NDArray[numpy.float64]:
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async def read_joint_actual_position_async(self) -> numpy.typing.NDArray[numpy.float64]:
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def read_joint_actual_position_unchecked(self) -> None:
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def read_joint_bus_voltage(self) -> numpy.typing.NDArray[numpy.float32]:
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async def read_joint_bus_voltage_async(self) -> numpy.typing.NDArray[numpy.float32]:
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def read_joint_lower_limit_unchecked(self) -> None:
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def read_joint_position(self) -> numpy.typing.NDArray[numpy.float64]:
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async def read_joint_position_async(self) -> numpy.typing.NDArray[numpy.float64]:
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def read_joint_position_unchecked(self) -> None:
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def read_joint_temperature(self) -> numpy.typing.NDArray[numpy.float32]:
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async def read_joint_temperature_async(self) -> numpy.typing.NDArray[numpy.float32]:
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def read_joint_upper_limit_unchecked(self) -> None:
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@typing.overload
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def write_joint_control_mode(self, value:
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def write_joint_control_mode(self, value: typing.SupportsInt) -> 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]) -> None:
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@typing.overload
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async def write_joint_control_mode_async(self, value:
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async def write_joint_control_mode_async(self, value: typing.SupportsInt) -> None:
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@typing.overload
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async def write_joint_control_mode_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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@typing.overload
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def write_joint_control_mode_unchecked(self, value:
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def write_joint_control_mode_unchecked(self, value: typing.SupportsInt) -> 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]) -> None:
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@typing.overload
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def
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def write_joint_current_limit(self, value: typing.SupportsInt) -> None:
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@typing.overload
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def
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def write_joint_current_limit(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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async def
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async def write_joint_current_limit_async(self, value: typing.SupportsInt) -> None:
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async def
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async def write_joint_current_limit_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_current_limit_unchecked(self, value: typing.SupportsInt) -> None:
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def
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def write_joint_current_limit_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_enabled(self, value: bool) -> None:
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def write_joint_enabled(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool]) -> None:
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async def
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async def write_joint_enabled_async(self, value: bool) -> None:
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async def
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async def write_joint_enabled_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool]) -> None:
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def write_joint_enabled_unchecked(self, value: bool) -> None:
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def write_joint_enabled_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool]) -> None:
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def write_joint_reset_error(self, value: typing.SupportsInt) -> None:
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def write_joint_reset_error(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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async def write_joint_reset_error_async(self, value: typing.SupportsInt) -> None:
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async def write_joint_reset_error_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_reset_error_unchecked(self, value: typing.SupportsInt) -> None:
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def write_joint_reset_error_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def write_joint_sin_level(self, value: typing.SupportsInt) -> 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: typing.SupportsInt) -> 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: typing.SupportsInt) -> 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_joint_target_position(self, value: typing.SupportsFloat) -> None:
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def write_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
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async def write_joint_target_position_async(self, value: typing.SupportsFloat) -> None:
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async def write_joint_target_position_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
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def write_joint_target_position_unchecked(self, value: typing.SupportsFloat) -> None:
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def write_joint_target_position_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> 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 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_position(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_temperature(self) -> numpy.float32:
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def pdo_write_unchecked(self, arg0: numpy.float64) -> None:
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def read_firmware_date(self) -> numpy.uint32:
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def read_joint_bus_voltage(self) -> numpy.typing.NDArray[numpy.float32]:
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async def read_joint_bus_voltage_async(self) -> numpy.typing.NDArray[numpy.float32]:
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def read_joint_position_unchecked(self) -> None:
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def read_joint_temperature(self) -> numpy.typing.NDArray[numpy.float32]:
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async def read_joint_temperature_async(self) -> numpy.typing.NDArray[numpy.float32]:
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def read_temperature_unchecked(self) -> None:
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def
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async def write_global_tpdo_id_async(self, value: numpy.uint16) -> None:
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-
def write_global_tpdo_id_unchecked(self, value: numpy.uint16) -> None:
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+
def realtime_controller(self, enable_upstream: bool, filter: filter.IFilter) -> IController:
|
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...
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|
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-
def write_joint_control_mode(self, value:
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+
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async def write_joint_control_mode_async(self, value:
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def write_joint_control_mode_unchecked(self, value:
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def
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def
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async def
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async def write_joint_current_limit_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def
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def write_joint_current_limit_unchecked(self, value: typing.SupportsInt) -> None:
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def
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def write_joint_current_limit_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
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def
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def write_joint_enabled(self, value: bool) -> None:
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def
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def write_joint_enabled(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool]) -> None:
|
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...
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async def
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+
async def write_joint_enabled_async(self, value: bool) -> None:
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|
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async def
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+
async def write_joint_enabled_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool]) -> None:
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...
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def
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def write_joint_enabled_unchecked(self, value: bool) -> None:
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...
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|
@typing.overload
|
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def
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+
def write_joint_enabled_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool]) -> None:
|
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...
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@typing.overload
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def
|
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+
def write_joint_reset_error(self, value: typing.SupportsInt) -> None:
|
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...
|
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|
@typing.overload
|
|
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def
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|
+
def write_joint_reset_error(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
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|
...
|
|
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|
@typing.overload
|
|
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|
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async def
|
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|
+
async def write_joint_reset_error_async(self, value: typing.SupportsInt) -> None:
|
|
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363
|
...
|
|
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364
|
@typing.overload
|
|
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|
-
async def
|
|
365
|
+
async def write_joint_reset_error_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
|
375
366
|
...
|
|
376
367
|
@typing.overload
|
|
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|
-
def
|
|
368
|
+
def write_joint_reset_error_unchecked(self, value: typing.SupportsInt) -> None:
|
|
378
369
|
...
|
|
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370
|
@typing.overload
|
|
380
|
-
def
|
|
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|
+
def write_joint_reset_error_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
|
381
372
|
...
|
|
382
373
|
@typing.overload
|
|
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|
-
def
|
|
374
|
+
def write_joint_sin_level(self, value: typing.SupportsInt) -> None:
|
|
384
375
|
...
|
|
385
376
|
@typing.overload
|
|
386
|
-
def
|
|
377
|
+
def write_joint_sin_level(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
|
387
378
|
...
|
|
388
379
|
@typing.overload
|
|
389
|
-
async def
|
|
380
|
+
async def write_joint_sin_level_async(self, value: typing.SupportsInt) -> None:
|
|
390
381
|
...
|
|
391
382
|
@typing.overload
|
|
392
|
-
async def
|
|
383
|
+
async def write_joint_sin_level_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
|
393
384
|
...
|
|
394
385
|
@typing.overload
|
|
395
|
-
def
|
|
386
|
+
def write_joint_sin_level_unchecked(self, value: typing.SupportsInt) -> None:
|
|
396
387
|
...
|
|
397
388
|
@typing.overload
|
|
398
|
-
def
|
|
389
|
+
def write_joint_sin_level_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16]) -> None:
|
|
399
390
|
...
|
|
400
391
|
@typing.overload
|
|
401
|
-
def
|
|
392
|
+
def write_joint_target_position(self, value: typing.SupportsFloat) -> None:
|
|
402
393
|
...
|
|
403
394
|
@typing.overload
|
|
404
|
-
def
|
|
395
|
+
def write_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
|
|
405
396
|
...
|
|
406
397
|
@typing.overload
|
|
407
|
-
async def
|
|
398
|
+
async def write_joint_target_position_async(self, value: typing.SupportsFloat) -> None:
|
|
408
399
|
...
|
|
409
400
|
@typing.overload
|
|
410
|
-
async def
|
|
401
|
+
async def write_joint_target_position_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
|
|
411
402
|
...
|
|
412
403
|
@typing.overload
|
|
413
|
-
def
|
|
404
|
+
def write_joint_target_position_unchecked(self, value: typing.SupportsFloat) -> None:
|
|
414
405
|
...
|
|
415
406
|
@typing.overload
|
|
416
|
-
def
|
|
417
|
-
...
|
|
418
|
-
def write_pdo_enabled(self, value: numpy.uint8) -> None:
|
|
419
|
-
...
|
|
420
|
-
async def write_pdo_enabled_async(self, value: numpy.uint8) -> None:
|
|
407
|
+
def write_joint_target_position_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
|
|
421
408
|
...
|
|
422
|
-
|
|
409
|
+
class IController:
|
|
410
|
+
def __enter__(self) -> IController:
|
|
423
411
|
...
|
|
424
|
-
def
|
|
412
|
+
def __exit__(self, arg0: typing.Any, arg1: typing.Any, arg2: typing.Any) -> None:
|
|
425
413
|
...
|
|
426
|
-
|
|
414
|
+
def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
|
|
427
415
|
...
|
|
428
|
-
def
|
|
416
|
+
def set_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
|
|
429
417
|
...
|
|
430
418
|
class Joint:
|
|
419
|
+
def get_joint_actual_position(self) -> numpy.float64:
|
|
420
|
+
...
|
|
431
421
|
def get_joint_bus_voltage(self) -> numpy.float32:
|
|
432
422
|
...
|
|
433
423
|
def get_joint_error_code(self) -> numpy.uint32:
|
|
@@ -438,12 +428,16 @@ class Joint:
|
|
|
438
428
|
...
|
|
439
429
|
def get_joint_lower_limit(self) -> numpy.float64:
|
|
440
430
|
...
|
|
441
|
-
def get_joint_position(self) -> numpy.float64:
|
|
442
|
-
...
|
|
443
431
|
def get_joint_temperature(self) -> numpy.float32:
|
|
444
432
|
...
|
|
445
433
|
def get_joint_upper_limit(self) -> numpy.float64:
|
|
446
434
|
...
|
|
435
|
+
def read_joint_actual_position(self) -> numpy.float64:
|
|
436
|
+
...
|
|
437
|
+
async def read_joint_actual_position_async(self) -> numpy.float64:
|
|
438
|
+
...
|
|
439
|
+
def read_joint_actual_position_unchecked(self) -> None:
|
|
440
|
+
...
|
|
447
441
|
def read_joint_bus_voltage(self) -> numpy.float32:
|
|
448
442
|
...
|
|
449
443
|
async def read_joint_bus_voltage_async(self) -> numpy.float32:
|
|
@@ -474,12 +468,6 @@ class Joint:
|
|
|
474
468
|
...
|
|
475
469
|
def read_joint_lower_limit_unchecked(self) -> None:
|
|
476
470
|
...
|
|
477
|
-
def read_joint_position(self) -> numpy.float64:
|
|
478
|
-
...
|
|
479
|
-
async def read_joint_position_async(self) -> numpy.float64:
|
|
480
|
-
...
|
|
481
|
-
def read_joint_position_unchecked(self) -> None:
|
|
482
|
-
...
|
|
483
471
|
def read_joint_temperature(self) -> numpy.float32:
|
|
484
472
|
...
|
|
485
473
|
async def read_joint_temperature_async(self) -> numpy.float32:
|
|
@@ -492,39 +480,39 @@ class Joint:
|
|
|
492
480
|
...
|
|
493
481
|
def read_joint_upper_limit_unchecked(self) -> None:
|
|
494
482
|
...
|
|
495
|
-
def write_joint_control_mode(self, value:
|
|
483
|
+
def write_joint_control_mode(self, value: typing.SupportsInt) -> None:
|
|
496
484
|
...
|
|
497
|
-
async def write_joint_control_mode_async(self, value:
|
|
485
|
+
async def write_joint_control_mode_async(self, value: typing.SupportsInt) -> None:
|
|
498
486
|
...
|
|
499
|
-
def write_joint_control_mode_unchecked(self, value:
|
|
487
|
+
def write_joint_control_mode_unchecked(self, value: typing.SupportsInt) -> None:
|
|
500
488
|
...
|
|
501
|
-
def
|
|
489
|
+
def write_joint_current_limit(self, value: typing.SupportsInt) -> None:
|
|
502
490
|
...
|
|
503
|
-
async def
|
|
491
|
+
async def write_joint_current_limit_async(self, value: typing.SupportsInt) -> None:
|
|
504
492
|
...
|
|
505
|
-
def
|
|
493
|
+
def write_joint_current_limit_unchecked(self, value: typing.SupportsInt) -> None:
|
|
506
494
|
...
|
|
507
|
-
def
|
|
495
|
+
def write_joint_enabled(self, value: bool) -> None:
|
|
508
496
|
...
|
|
509
|
-
async def
|
|
497
|
+
async def write_joint_enabled_async(self, value: bool) -> None:
|
|
510
498
|
...
|
|
511
|
-
def
|
|
499
|
+
def write_joint_enabled_unchecked(self, value: bool) -> None:
|
|
512
500
|
...
|
|
513
|
-
def
|
|
501
|
+
def write_joint_reset_error(self, value: typing.SupportsInt) -> None:
|
|
514
502
|
...
|
|
515
|
-
async def
|
|
503
|
+
async def write_joint_reset_error_async(self, value: typing.SupportsInt) -> None:
|
|
516
504
|
...
|
|
517
|
-
def
|
|
505
|
+
def write_joint_reset_error_unchecked(self, value: typing.SupportsInt) -> None:
|
|
518
506
|
...
|
|
519
|
-
def
|
|
507
|
+
def write_joint_sin_level(self, value: typing.SupportsInt) -> None:
|
|
520
508
|
...
|
|
521
|
-
async def
|
|
509
|
+
async def write_joint_sin_level_async(self, value: typing.SupportsInt) -> None:
|
|
522
510
|
...
|
|
523
|
-
def
|
|
511
|
+
def write_joint_sin_level_unchecked(self, value: typing.SupportsInt) -> None:
|
|
524
512
|
...
|
|
525
|
-
def
|
|
513
|
+
def write_joint_target_position(self, value: typing.SupportsFloat) -> None:
|
|
526
514
|
...
|
|
527
|
-
async def
|
|
515
|
+
async def write_joint_target_position_async(self, value: typing.SupportsFloat) -> None:
|
|
528
516
|
...
|
|
529
|
-
def
|
|
517
|
+
def write_joint_target_position_unchecked(self, value: typing.SupportsFloat) -> None:
|
|
530
518
|
...
|
|
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 = '0.
|
|
32
|
-
__version_tuple__ = version_tuple = (0,
|
|
31
|
+
__version__ = version = '1.0.0b2'
|
|
32
|
+
__version_tuple__ = version_tuple = (1, 0, 0, 'b2')
|
|
33
33
|
|
|
34
|
-
__commit_id__ = commit_id = '
|
|
34
|
+
__commit_id__ = commit_id = 'g513ffd446'
|
|
@@ -0,0 +1,2 @@
|
|
|
1
|
+
Version: 1.11.2
|
|
2
|
+
Arguments: ['C:\\Users\\runneradmin\\AppData\\Local\\Temp\\cibw-run-ct2cjf9a\\cp313-win_amd64\\build\\venv\\Scripts\\delvewheel', 'repair', '--add-path', 'C:/vcpkg/installed/x64-windows/bin', '-w', 'C:\\Users\\runneradmin\\AppData\\Local\\Temp\\cibw-run-ct2cjf9a\\cp313-win_amd64\\repaired_wheel', 'C:\\Users\\runneradmin\\AppData\\Local\\Temp\\cibw-run-ct2cjf9a\\cp313-win_amd64\\built_wheel\\wujihandpy-1.0.0b2-cp313-cp313-win_amd64.whl']
|
|
@@ -0,0 +1,13 @@
|
|
|
1
|
+
wujihandpy/_core.cp313-win_amd64.pyd,sha256=ejlTpYhXO47E0jXrMh9I04Pknks_FFBmYr_SvsXrgAM,481280
|
|
2
|
+
wujihandpy/_version.py,sha256=phWv9H1vMb90k717zR9u0NBCL6xnM4nL-eTMgUjlewc,754
|
|
3
|
+
wujihandpy/__init__.py,sha256=vPhIatTFj099nPHxR0ifTFN4gKRt_9dstEgA7U3jR9E,503
|
|
4
|
+
wujihandpy/_core/filter.pyi,sha256=bhf3_lTgyf0BeVhp4TqUw0nJgoE0f-kyzw7vJrt67nI,235
|
|
5
|
+
wujihandpy/_core/__init__.pyi,sha256=Hjc7KVpIPrKhBp8kwgHhfkmlOCspkUeAjatB7mA9Vu8,22344
|
|
6
|
+
wujihandpy-1.0.0b2.dist-info/DELVEWHEEL,sha256=2A2ath_IF9jMxuWQpeztrVYW6xhl7PU-i6fCyZc3gOk,457
|
|
7
|
+
wujihandpy-1.0.0b2.dist-info/METADATA,sha256=HtQTe6nBxCqCjrfHKPqy0QN8rnW5oKHI8k8DLgSTMEE,8039
|
|
8
|
+
wujihandpy-1.0.0b2.dist-info/RECORD,,
|
|
9
|
+
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