wujihandpy 0.5.2__cp314-cp314t-manylinux_2_28_x86_64.whl → 1.3.0rc0__cp314-cp314t-manylinux_2_28_x86_64.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- wujihandpy/__init__.py +2 -2
- wujihandpy/_core/__init__.pyi +529 -0
- wujihandpy/_core/filter.pyi +8 -0
- wujihandpy/_core/logging.pyi +65 -0
- wujihandpy/_core.cpython-314t-x86_64-linux-gnu.so +0 -0
- wujihandpy/_version.py +3 -3
- {wujihandpy-0.5.2.dist-info → wujihandpy-1.3.0rc0.dist-info}/METADATA +29 -29
- wujihandpy-1.3.0rc0.dist-info/RECORD +18 -0
- wujihandpy-1.3.0rc0.dist-info/sboms/auditwheel.cdx.json +1 -0
- wujihandpy.libs/libudev-0287888a.so.1.6.11 +0 -0
- wujihandpy.libs/libusb-1-1b307d35.0.so.0.2.0 +0 -0
- wujihandpy/_core.pyi +0 -530
- wujihandpy-0.5.2.dist-info/RECORD +0 -15
- wujihandpy.libs/libudev-9765ffbd.so.1.6.11 +0 -0
- {wujihandpy-0.5.2.dist-info → wujihandpy-1.3.0rc0.dist-info}/WHEEL +0 -0
- {wujihandpy-0.5.2.dist-info → wujihandpy-1.3.0rc0.dist-info}/licenses/LICENSE +0 -0
wujihandpy/__init__.py
CHANGED
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@@ -1,6 +1,6 @@
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from __future__ import annotations
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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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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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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_firmware_date(self) -> numpy.typing.NDArray[numpy.uint32]:
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def get_joint_firmware_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_firmware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
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def read_joint_firmware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
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def read_joint_firmware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
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def read_joint_firmware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
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def read_joint_firmware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
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def read_joint_firmware_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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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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def write_joint_control_mode_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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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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def write_joint_control_mode_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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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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def write_joint_current_limit(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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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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def write_joint_current_limit_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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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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def write_joint_current_limit_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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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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def write_joint_enabled(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
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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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def write_joint_enabled_async(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
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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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def write_joint_enabled_unchecked(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
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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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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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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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def write_joint_sin_level(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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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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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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def write_joint_sin_level_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
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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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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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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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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_firmware_date(self) -> numpy.typing.NDArray[numpy.uint32]:
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def get_joint_firmware_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 raw_sdo_read(self, finger_id: typing.SupportsInt, joint_id: typing.SupportsInt, index: typing.SupportsInt, sub_index: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> bytes:
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def raw_sdo_write(self, finger_id: typing.SupportsInt, joint_id: typing.SupportsInt, index: typing.SupportsInt, sub_index: typing.SupportsInt, data: bytes, timeout: typing.SupportsFloat = 0.5) -> None:
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220
|
+
def read_firmware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
|
|
221
|
+
...
|
|
222
|
+
def read_firmware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
|
|
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|
+
...
|
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224
|
+
def read_firmware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
225
|
+
...
|
|
226
|
+
def read_firmware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
|
|
227
|
+
...
|
|
228
|
+
def read_firmware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
|
|
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|
+
...
|
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230
|
+
def read_firmware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
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231
|
+
...
|
|
232
|
+
def read_handedness(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint8:
|
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233
|
+
...
|
|
234
|
+
def read_handedness_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint8]:
|
|
235
|
+
...
|
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236
|
+
def read_handedness_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
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237
|
+
...
|
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238
|
+
def read_input_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
|
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239
|
+
...
|
|
240
|
+
def read_input_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
|
|
241
|
+
...
|
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242
|
+
def read_input_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
243
|
+
...
|
|
244
|
+
def read_joint_actual_position(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
|
|
245
|
+
...
|
|
246
|
+
def read_joint_actual_position_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
|
|
247
|
+
...
|
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248
|
+
def read_joint_actual_position_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
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249
|
+
...
|
|
250
|
+
def read_joint_bus_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float32]:
|
|
251
|
+
...
|
|
252
|
+
def read_joint_bus_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float32]]:
|
|
253
|
+
...
|
|
254
|
+
def read_joint_bus_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
255
|
+
...
|
|
256
|
+
def read_joint_error_code(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
|
|
257
|
+
...
|
|
258
|
+
def read_joint_error_code_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
|
|
259
|
+
...
|
|
260
|
+
def read_joint_error_code_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
261
|
+
...
|
|
262
|
+
def read_joint_firmware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
|
|
263
|
+
...
|
|
264
|
+
def read_joint_firmware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
|
|
265
|
+
...
|
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266
|
+
def read_joint_firmware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
267
|
+
...
|
|
268
|
+
def read_joint_firmware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
|
|
269
|
+
...
|
|
270
|
+
def read_joint_firmware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
|
|
271
|
+
...
|
|
272
|
+
def read_joint_firmware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
273
|
+
...
|
|
274
|
+
def read_joint_lower_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
|
|
275
|
+
...
|
|
276
|
+
def read_joint_lower_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
|
|
277
|
+
...
|
|
278
|
+
def read_joint_lower_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
279
|
+
...
|
|
280
|
+
def read_joint_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float32]:
|
|
281
|
+
...
|
|
282
|
+
def read_joint_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float32]]:
|
|
283
|
+
...
|
|
284
|
+
def read_joint_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
285
|
+
...
|
|
286
|
+
def read_joint_upper_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
|
|
287
|
+
...
|
|
288
|
+
def read_joint_upper_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
|
|
289
|
+
...
|
|
290
|
+
def read_joint_upper_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
291
|
+
...
|
|
292
|
+
def read_system_time(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
|
|
293
|
+
...
|
|
294
|
+
def read_system_time_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
|
|
295
|
+
...
|
|
296
|
+
def read_system_time_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
297
|
+
...
|
|
298
|
+
def read_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
|
|
299
|
+
...
|
|
300
|
+
def read_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
|
|
301
|
+
...
|
|
302
|
+
def read_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
303
|
+
...
|
|
304
|
+
def realtime_controller(self, enable_upstream: bool, filter: filter.IFilter) -> IController:
|
|
305
|
+
...
|
|
306
|
+
def start_latency_test(self) -> None:
|
|
307
|
+
...
|
|
308
|
+
def stop_latency_test(self) -> None:
|
|
309
|
+
...
|
|
310
|
+
@typing.overload
|
|
311
|
+
def write_joint_control_mode(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
312
|
+
...
|
|
313
|
+
@typing.overload
|
|
314
|
+
def write_joint_control_mode(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
315
|
+
...
|
|
316
|
+
@typing.overload
|
|
317
|
+
def write_joint_control_mode_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
318
|
+
...
|
|
319
|
+
@typing.overload
|
|
320
|
+
def write_joint_control_mode_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
321
|
+
...
|
|
322
|
+
@typing.overload
|
|
323
|
+
def write_joint_control_mode_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
324
|
+
...
|
|
325
|
+
@typing.overload
|
|
326
|
+
def write_joint_control_mode_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
327
|
+
...
|
|
328
|
+
@typing.overload
|
|
329
|
+
def write_joint_current_limit(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
330
|
+
...
|
|
331
|
+
@typing.overload
|
|
332
|
+
def write_joint_current_limit(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
333
|
+
...
|
|
334
|
+
@typing.overload
|
|
335
|
+
def write_joint_current_limit_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
336
|
+
...
|
|
337
|
+
@typing.overload
|
|
338
|
+
def write_joint_current_limit_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
339
|
+
...
|
|
340
|
+
@typing.overload
|
|
341
|
+
def write_joint_current_limit_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
342
|
+
...
|
|
343
|
+
@typing.overload
|
|
344
|
+
def write_joint_current_limit_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
345
|
+
...
|
|
346
|
+
@typing.overload
|
|
347
|
+
def write_joint_enabled(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
348
|
+
...
|
|
349
|
+
@typing.overload
|
|
350
|
+
def write_joint_enabled(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
351
|
+
...
|
|
352
|
+
@typing.overload
|
|
353
|
+
def write_joint_enabled_async(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
354
|
+
...
|
|
355
|
+
@typing.overload
|
|
356
|
+
def write_joint_enabled_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
357
|
+
...
|
|
358
|
+
@typing.overload
|
|
359
|
+
def write_joint_enabled_unchecked(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
360
|
+
...
|
|
361
|
+
@typing.overload
|
|
362
|
+
def write_joint_enabled_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
363
|
+
...
|
|
364
|
+
@typing.overload
|
|
365
|
+
def write_joint_reset_error(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
366
|
+
...
|
|
367
|
+
@typing.overload
|
|
368
|
+
def write_joint_reset_error(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
369
|
+
...
|
|
370
|
+
@typing.overload
|
|
371
|
+
def write_joint_reset_error_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
372
|
+
...
|
|
373
|
+
@typing.overload
|
|
374
|
+
def write_joint_reset_error_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
375
|
+
...
|
|
376
|
+
@typing.overload
|
|
377
|
+
def write_joint_reset_error_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
378
|
+
...
|
|
379
|
+
@typing.overload
|
|
380
|
+
def write_joint_reset_error_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
381
|
+
...
|
|
382
|
+
@typing.overload
|
|
383
|
+
def write_joint_sin_level(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
384
|
+
...
|
|
385
|
+
@typing.overload
|
|
386
|
+
def write_joint_sin_level(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
387
|
+
...
|
|
388
|
+
@typing.overload
|
|
389
|
+
def write_joint_sin_level_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
390
|
+
...
|
|
391
|
+
@typing.overload
|
|
392
|
+
def write_joint_sin_level_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
393
|
+
...
|
|
394
|
+
@typing.overload
|
|
395
|
+
def write_joint_sin_level_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
396
|
+
...
|
|
397
|
+
@typing.overload
|
|
398
|
+
def write_joint_sin_level_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
399
|
+
...
|
|
400
|
+
@typing.overload
|
|
401
|
+
def write_joint_target_position(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
402
|
+
...
|
|
403
|
+
@typing.overload
|
|
404
|
+
def write_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
405
|
+
...
|
|
406
|
+
@typing.overload
|
|
407
|
+
def write_joint_target_position_async(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
408
|
+
...
|
|
409
|
+
@typing.overload
|
|
410
|
+
def write_joint_target_position_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
411
|
+
...
|
|
412
|
+
@typing.overload
|
|
413
|
+
def write_joint_target_position_unchecked(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
414
|
+
...
|
|
415
|
+
@typing.overload
|
|
416
|
+
def write_joint_target_position_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> None:
|
|
417
|
+
...
|
|
418
|
+
class IController:
|
|
419
|
+
def __enter__(self) -> IController:
|
|
420
|
+
...
|
|
421
|
+
def __exit__(self, arg0: typing.Any, arg1: typing.Any, arg2: typing.Any) -> None:
|
|
422
|
+
...
|
|
423
|
+
def close(self) -> None:
|
|
424
|
+
...
|
|
425
|
+
def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
|
|
426
|
+
...
|
|
427
|
+
def set_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
|
|
428
|
+
...
|
|
429
|
+
class Joint:
|
|
430
|
+
def get_joint_actual_position(self) -> numpy.float64:
|
|
431
|
+
...
|
|
432
|
+
def get_joint_bus_voltage(self) -> numpy.float32:
|
|
433
|
+
...
|
|
434
|
+
def get_joint_error_code(self) -> numpy.uint32:
|
|
435
|
+
...
|
|
436
|
+
def get_joint_firmware_date(self) -> numpy.uint32:
|
|
437
|
+
...
|
|
438
|
+
def get_joint_firmware_version(self) -> numpy.uint32:
|
|
439
|
+
...
|
|
440
|
+
def get_joint_lower_limit(self) -> numpy.float64:
|
|
441
|
+
...
|
|
442
|
+
def get_joint_temperature(self) -> numpy.float32:
|
|
443
|
+
...
|
|
444
|
+
def get_joint_upper_limit(self) -> numpy.float64:
|
|
445
|
+
...
|
|
446
|
+
def read_joint_actual_position(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float64:
|
|
447
|
+
...
|
|
448
|
+
def read_joint_actual_position_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float64]:
|
|
449
|
+
...
|
|
450
|
+
def read_joint_actual_position_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
451
|
+
...
|
|
452
|
+
def read_joint_bus_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
|
|
453
|
+
...
|
|
454
|
+
def read_joint_bus_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
|
|
455
|
+
...
|
|
456
|
+
def read_joint_bus_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
457
|
+
...
|
|
458
|
+
def read_joint_error_code(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
|
|
459
|
+
...
|
|
460
|
+
def read_joint_error_code_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
|
|
461
|
+
...
|
|
462
|
+
def read_joint_error_code_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
463
|
+
...
|
|
464
|
+
def read_joint_firmware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
|
|
465
|
+
...
|
|
466
|
+
def read_joint_firmware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
|
|
467
|
+
...
|
|
468
|
+
def read_joint_firmware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
469
|
+
...
|
|
470
|
+
def read_joint_firmware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
|
|
471
|
+
...
|
|
472
|
+
def read_joint_firmware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
|
|
473
|
+
...
|
|
474
|
+
def read_joint_firmware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
475
|
+
...
|
|
476
|
+
def read_joint_lower_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float64:
|
|
477
|
+
...
|
|
478
|
+
def read_joint_lower_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float64]:
|
|
479
|
+
...
|
|
480
|
+
def read_joint_lower_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
481
|
+
...
|
|
482
|
+
def read_joint_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
|
|
483
|
+
...
|
|
484
|
+
def read_joint_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
|
|
485
|
+
...
|
|
486
|
+
def read_joint_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
487
|
+
...
|
|
488
|
+
def read_joint_upper_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float64:
|
|
489
|
+
...
|
|
490
|
+
def read_joint_upper_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float64]:
|
|
491
|
+
...
|
|
492
|
+
def read_joint_upper_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
493
|
+
...
|
|
494
|
+
def write_joint_control_mode(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
495
|
+
...
|
|
496
|
+
def write_joint_control_mode_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
497
|
+
...
|
|
498
|
+
def write_joint_control_mode_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
499
|
+
...
|
|
500
|
+
def write_joint_current_limit(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
501
|
+
...
|
|
502
|
+
def write_joint_current_limit_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
503
|
+
...
|
|
504
|
+
def write_joint_current_limit_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
505
|
+
...
|
|
506
|
+
def write_joint_enabled(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
507
|
+
...
|
|
508
|
+
def write_joint_enabled_async(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
509
|
+
...
|
|
510
|
+
def write_joint_enabled_unchecked(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
511
|
+
...
|
|
512
|
+
def write_joint_reset_error(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
513
|
+
...
|
|
514
|
+
def write_joint_reset_error_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
515
|
+
...
|
|
516
|
+
def write_joint_reset_error_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
517
|
+
...
|
|
518
|
+
def write_joint_sin_level(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
519
|
+
...
|
|
520
|
+
def write_joint_sin_level_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
521
|
+
...
|
|
522
|
+
def write_joint_sin_level_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
523
|
+
...
|
|
524
|
+
def write_joint_target_position(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
525
|
+
...
|
|
526
|
+
def write_joint_target_position_async(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
|
|
527
|
+
...
|
|
528
|
+
def write_joint_target_position_unchecked(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
|
|
529
|
+
...
|
|
@@ -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 = '1.3.0rc0'
|
|
32
|
+
__version_tuple__ = version_tuple = (1, 3, 0, 'rc0')
|
|
33
33
|
|
|
34
|
-
__commit_id__ = commit_id = '
|
|
34
|
+
__commit_id__ = commit_id = 'g7d6d81d53'
|