xarm-python-sdk 1.15.2__py3-none-any.whl

xarm/core/config/x_config.py

@@ -0,0 +1,553 @@
+#!/usr/bin/env python3
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2018, UFACTORY, Inc.
+# All rights reserved.
+#
+# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
+
+import math
+
+
+class XCONF(object):
+    ARM_AXIS_NUM = 7
+    MAX_CMD_NUM = 1024
+
+    TRACK_ID = 1
+    GRIPPER_ID = 8
+
+    TGPIO_HOST_ID = 9
+    LINEER_TRACK_HOST_ID = 11
+
+    def __init__(self):
+        pass
+
+    class Robot:
+        class Axis:
+            XARM5 = 5
+            XARM6 = 6
+            XARM7 = 7
+
+        class Type:
+            XARM6_X1 = 1
+            XARM7_X2 = 2
+            XARM7_X3 = 3
+            XARM7_X3MIR = 4
+            XARM5_X4 = 5
+            XARM6_X4 = 6
+            XARM7_X4 = 7
+            XARM6_X8 = 8
+            XARM6_X9 = 9
+            XARM6_X11 = 11
+            XARM6_X12 = 12
+            XARM7_X13 = 13
+            XARM5_X4_1305 = 51305
+            XARM6_X4_1305 = 61305
+            XARM7_X4_1305 = 71305
+
+        JOINT_LIMITS = {
+            Axis.XARM5: {
+                Type.XARM5_X4: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.059488, 2.094395),  # (-2.18, 2.18),
+                    (-3.92699, 0.191986),  # (-4.01, 0.1),
+                    (-1.692969, math.pi),  # (-1.75, math.pi),
+                    (-2 * math.pi, 2 * math.pi)
+                ],
+                Type.XARM5_X4_1305: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.042035, 2.024581),
+                    (-3.822271, 0.174532),
+                    (-1.692969, math.pi),  # (-1.75, math.pi),
+                    (-2 * math.pi, 2 * math.pi)
+                ],
+            },
+            Axis.XARM6: {
+                Type.XARM6_X4: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.059488, 2.094395),  # (-2.18, 2.18),
+                    (-3.92699, 0.191986),  # (-4.01, 0.1),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-1.692969, math.pi),  # (-1.75, math.pi),
+                    (-2 * math.pi, 2 * math.pi)
+                ],
+                Type.XARM6_X4_1305: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.042035, 2.024581),
+                    (-3.822271, 0.174532),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-1.692969, math.pi),  # (-1.75, math.pi),
+                    (-2 * math.pi, 2 * math.pi)
+                ],
+                Type.XARM6_X8: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.059488, 2.094395),  # (-2.18, 2.18),
+                    (-0.191986, 3.92699),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-1.692969, math.pi),  # (-1.75, math.pi),
+                    (-2 * math.pi, 2 * math.pi)
+                ],
+                Type.XARM6_X9: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.6179938779914944, 2.6179938779914944),
+                    (-0.061086523819801536, 5.235987755982989),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.1642082724729685, 2.1642082724729685),
+                    (-2 * math.pi, 2 * math.pi),
+                ],
+                Type.XARM6_X11: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-1.692969, math.pi),
+                    (-2 * math.pi, 2 * math.pi),
+                ],
+                Type.XARM6_X12: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.303834612632515, 2.303834612632515),
+                    (-4.223696789826278, 0.061086523819801536),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.1642082724729685, 2.1642082724729685),
+                    (-2 * math.pi, 2 * math.pi),
+                ],
+
+            },
+            Axis.XARM7: {
+                Type.XARM7_X3: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.059488, 2.094395),  # (-2.18, 2.18),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-3.92699, 0.191986),  # (-4.01, 0.1),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-1.692969, math.pi),  # (-1.75, math.pi),
+                    (-2 * math.pi, 2 * math.pi)
+                ],
+                Type.XARM7_X4: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.059488, 2.094395),  # (-2.18, 2.18),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-0.191986, 3.92699),  # (-0.1, 4.01),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-1.692969, math.pi),  # (-1.75, math.pi),
+                    (-2 * math.pi, 2 * math.pi)
+                ],
+                Type.XARM7_X4_1305: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.042035, 2.024581),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-0.10472, 3.92699),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-1.692969, math.pi),  # (-1.75, math.pi),
+                    (-2 * math.pi, 2 * math.pi)
+                ],
+                Type.XARM7_X13: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.094395, 2.059488),  # (-2.18, 2.18),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-3.92699, 0.191986),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-math.pi, 1.692969), 
+                    (-2 * math.pi, 2 * math.pi)
+                ]
+            }
+        }
+        TCP_LIMITS = {
+            Axis.XARM5: {
+                Type.XARM5_X4: [
+                    (-750, 750),
+                    (-750, 750),
+                    (-400, 1000),
+                    (math.pi, math.pi),
+                    (0, 0),
+                    (-math.pi, math.pi)
+                ],
+            },
+            Axis.XARM6: {
+                Type.XARM6_X1: [
+                    (-750, 750),
+                    (-750, 750),
+                    (-400, 1000),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ],
+                Type.XARM6_X4: [
+                    (-750, 750),
+                    (-750, 750),
+                    (-400, 1000),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ],
+                Type.XARM6_X8: [
+                    (-1000, 1000),
+                    (-1000, 1000),
+                    (-600, 1200),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ],
+                Type.XARM6_X9: [
+                    (-500, 500),
+                    (-500, 500),
+                    (-150, 750),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ],
+                Type.XARM6_X11: [
+                    (-900, 900),
+                    (-900, 900),
+                    (-900, 1200),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ],
+                Type.XARM6_X12: [
+                    (-1000, 1000),
+                    (-1000, 1000),
+                    (-400, 1300),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ],
+            },
+            Axis.XARM7: {
+                Type.XARM7_X3: [
+                    (-750, 750),
+                    (-750, 750),
+                    (-400, 1000),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ],
+                Type.XARM7_X4: [
+                    (-750, 750),
+                    (-750, 750),
+                    (-400, 1000),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ],
+                Type.XARM7_X13: [
+                    (-750, 750),
+                    (-750, 750),
+                    (-400, 1000),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ]
+            }
+        }
+
+    class SerialConf:
+        SERIAL_BAUD = 2000000  # 921600
+        UXBUS_RXQUE_MAX = 10
+        UXBUS_DEF_FROMID = 0xAA
+        UXBUS_DEF_TOID = 0x55
+        UX2_HEX_PROTOCOL = 1
+        UX2_STR_PROTOCOL = 2
+        UX1_HEX_PROTOCOL = 3
+        UX1_STR_PROTOCOL = 4
+
+    class SocketConf:
+        TCP_CONTROL_PORT = 502
+        TCP_REPORT_NORM_PORT = 30001
+        TCP_REPORT_RICH_PORT = 30002
+        TCP_REPORT_REAL_PORT = 30003
+        TCP_RX_QUE_MAX = 1024
+        TCP_CONTROL_BUF_SIZE = 1024
+        TCP_REPORT_REAL_BUF_SIZE = 87
+        TCP_REPORT_NORMAL_BUF_SIZE = 133
+        TCP_REPORT_RICH_BUF_SIZE = 233
+
+    class UxbusReg:
+        GET_VERSION = 1
+        GET_ROBOT_SN = 2
+        CHECK_VERIFY = 3
+        RELOAD_DYNAMICS = 4
+        GET_REPORT_TAU_OR_I = 5
+        GET_TCP_ROTATION_RADIUS = 6
+        GET_ALLOW_APPROX_MOTION = 7
+
+        SYSTEM_CONTROL = 10
+        MOTION_EN = 11
+        SET_STATE = 12
+        GET_STATE = 13
+        GET_CMDNUM = 14
+        GET_ERROR = 15
+        CLEAN_ERR = 16
+        CLEAN_WAR = 17
+        SET_BRAKE = 18
+        SET_MODE = 19
+
+        MOVE_LINE = 21
+        MOVE_LINEB = 22
+        MOVE_JOINT = 23
+        MOVE_JOINTB = 24
+        MOVE_HOME = 25
+        SLEEP_INSTT = 26
+        MOVE_CIRCLE = 27
+        MOVE_LINE_TOOL = 28
+        MOVE_SERVOJ = 29
+        MOVE_SERVO_CART = 30
+
+        SET_TCP_JERK = 31
+        SET_TCP_MAXACC = 32
+        SET_JOINT_JERK = 33
+        SET_JOINT_MAXACC = 34
+        SET_TCP_OFFSET = 35
+        SET_LOAD_PARAM = 36
+        SET_COLLIS_SENS = 37
+        SET_TEACH_SENS = 38
+        CLEAN_CONF = 39
+        SAVE_CONF = 40
+
+        GET_TCP_POSE = 41
+        GET_JOINT_POS = 42
+        GET_IK = 43
+        GET_FK = 44
+        IS_JOINT_LIMIT = 45
+        IS_TCP_LIMIT = 46
+
+        SET_REDUCED_TRSV = 47
+        SET_REDUCED_P2PV = 48
+        GET_REDUCED_MODE = 49
+        SET_REDUCED_MODE = 50
+        SET_GRAVITY_DIR = 51
+        SET_LIMIT_XYZ = 52
+        GET_REDUCED_STATE = 53
+
+        SET_SERVOT = 54  # no longer supported
+        GET_JOINT_TAU = 55
+        SET_SAFE_LEVEL = 56
+        GET_SAFE_LEVEL = 57
+
+        SET_REDUCED_JRANGE = 58
+        SET_FENSE_ON = 59
+        SET_COLLIS_REB = 60
+
+        SET_TRAJ_RECORD = 61
+        SAVE_TRAJ = 62
+        LOAD_TRAJ = 63
+        PLAY_TRAJ = 64
+        GET_TRAJ_RW_STATUS = 65
+        SET_ALLOW_APPROX_MOTION = 66
+        GET_DH = 67
+        SET_DH = 68
+        GET_MOVEMENT = 69
+
+        REPORT_TAU_OR_I = 70
+        SET_TIMER = 71
+        CANCEL_TIMER = 72
+        SET_WORLD_OFFSET = 73
+        CNTER_RESET = 74
+        CNTER_PLUS = 75
+
+        CAL_POSE_OFFSET = 76
+
+        SET_SELF_COLLIS_CHECK = 77
+        SET_COLLIS_TOOL = 78
+        SET_SIMULATION_ROBOT = 79
+        SET_CARTV_CONTINUE = 80
+
+        VC_SET_JOINTV = 81
+        VC_SET_CARTV = 82
+        MOVE_RELATIVE = 83
+
+        GET_TCP_POSE_AA = 91
+        MOVE_LINE_AA = 92
+        MOVE_SERVO_CART_AA = 93
+
+        SERVO_W16B = 101
+        SERVO_R16B = 102
+        SERVO_W32B = 103
+        SERVO_R32B = 104
+        SERVO_ZERO = 105
+        SERVO_DBMSG = 106
+        SERVO_ERROR = 107
+
+        CALI_TCP_POSE = 111
+        CALI_TCP_ORIENT = 112
+        CALI_WRLD_ORIENT = 113
+        CALI_WRLD_POSE = 114
+        IDEN_FRIC = 115
+
+        TGPIO_MB_TIOUT = 123
+        TGPIO_MODBUS = 124
+        TGPIO_ERR = 125
+        TGPIO_W16B = 127
+        TGPIO_R16B = 128
+        TGPIO_W32B = 129
+        TGPIO_R32B = 130
+
+        CGPIO_GET_DIGIT = 131
+        CGPIO_GET_ANALOG1 = 132
+        CGPIO_GET_ANALOG2 = 133
+        CGPIO_SET_DIGIT = 134
+        CGPIO_SET_ANALOG1 = 135
+        CGPIO_SET_ANALOG2 = 136
+        CGPIO_SET_IN_FUN = 137
+        CGPIO_SET_OUT_FUN = 138
+        CGPIO_GET_STATE = 139
+
+        GET_PWR_VERSION = 140
+        GET_HD_TYPES = 141
+        DELAYED_CGPIO_SET = 142
+        DELAYED_TGPIO_SET = 143
+        POSITION_CGPIO_SET = 144
+        POSITION_TGPIO_SET = 145
+        SET_IO_STOP_RESET = 146
+        POSITION_CGPIO_SET_ANALOG = 147
+
+        FTSENSOR_GET_DATA_OLD = 150  # only available in firmware version < 1.8.3
+        FTSENSOR_GET_DATA = 200
+        FTSENSOR_ENABLE = 201
+        FTSENSOR_SET_APP = 202
+        FTSENSOR_GET_APP = 203
+        IDEN_LOAD = 204
+        FTSENSOR_CALI_LOAD_OFFSET = 205
+        FTSENSOR_SET_ZERO = 206
+        IMPEDANCE_CONFIG = 207
+        FORCE_CTRL_PID = 208
+        FORCE_CTRL_CONFIG = 209
+        IMPEDANCE_CTRL_MBK = 210
+        IMPEDANCE_CTRL_CONFIG = 211
+        FTSENSOR_GET_CONFIG = 212
+        
+        GET_TRAJ_SPEEDING = 230
+        GET_MAX_JOINT_VELOCITY = 231
+        SET_COMMON_PARAM = 232
+        GET_COMMON_PARAM = 233
+        GET_COMMON_INFO = 234
+
+        TGPIO_COM_TIOUT = 240
+        TGPIO_COM_DATA = 241
+
+        FEEDBACK_CHECK = 253
+        SET_FEEDBACK_TYPE = 254
+
+    class UxbusConf:
+        SET_TIMEOUT = 2000  # ms
+        GET_TIMEOUT = 2000  # ms
+
+    class ServoConf:
+        CON_EN = 0x0100
+        CON_MODE = 0x0101
+        CON_DIR = 0x0102
+
+        SV3MOD_POS = 0
+        SV3MOD_SPD = 1
+        SV3MOD_FOS = 2
+        SV3_SAVE = 0x1000
+
+        BRAKE = 0x0104
+        GET_TEMP = 0x000E
+        ERR_CODE = 0x000F
+        OVER_TEMP = 0x0108
+        CURR_CURR = 0x0001
+        POS_KP = 0x0200
+        POS_FWDKP = 0x0201
+        POS_PWDTC = 0x0202
+        SPD_KP = 0x0203
+        SPD_KI = 0x0204
+        CURR_KP = 0x090C
+        CURR_KI = 0x090D
+        SPD_IFILT = 0x030C
+        SPD_OFILT = 0x030D
+        POS_CMDILT = 0x030E
+        CURR_IFILT = 0x0401
+        POS_KD = 0x0205
+        POS_ACCT = 0x0300
+        POS_DECT = 0x0301
+        POS_STHT = 0x0302
+        POS_SPD = 0x0303
+        MT_ID = 0x1600
+        BAUDRATE = 0x0601
+        SOFT_REBOOT = 0x0607
+        TAGET_TOQ = 0x050a
+        CURR_TOQ = 0x050c
+        TOQ_SPD = 0x050e
+        TAGET_POS = 0x0700
+        CURR_POS = 0x0702
+        HARD_VER = 0x0800
+        SOFT_VER = 0x0801
+        MT_TYPE = 0x0802
+        MT_ZERO = 0x0817
+        RESET_PVL = 0x0813
+        CAL_ZERO = 0x080C
+        ERR_SWITCH = 0x0910
+        RESET_ERR = 0x0109
+        SV3_BRO_ID = 0xFF
+
+        MODBUS_BAUDRATE = 0x0A0B
+        TOOL_MB_TIMEOUT = 0x0A0E
+        TI2_IN = 0x0A12
+        TI2_TIME = 0x0A13
+        DIGITAL_IN = 0x0A14
+        DIGITAL_OUT = 0x0A15
+        ANALOG_IO1 = 0x0A16
+        ANALOG_IO2 = 0x0A17
+
+        BACK_ORIGIN = 0x0A0A
+        STOP_TRACK = 0x0A0E
+
+    class UxbusState:
+        ERR_CODE = 1  # 有尚未清除的错误
+        WAR_CODE = 2  # 有尚未清除的警告
+        ERR_TOUT = 3  # 获取结果超时
+        ERR_LENG = 4  # TCP回复长度错误
+        ERR_NUM = 5  # TCP回复序号错误
+        ERR_PROT = 6  # TCP协议标志错误
+        ERR_FUN = 7  # TCP回复指令和发送指令不匹配
+        ERR_NOTTCP = 8  # 发送错误
+        STATE_NOT_READY = 9  # 未准备好运动
+        INVALID = 10  # 结果无效或执行失败
+        ERR_OTHER = 11  # 其它错误
+        ERR_PARAM = 12  # 参数错误
+
+    class TrajState:
+        IDLE = 0
+        LOADING = 1
+        LOAD_SUCCESS = 2
+        LOAD_FAIL = 3
+        SAVING = 4
+        SAVE_SUCCESS = 5
+        SAVE_FAIL = 6
+
+    class BioGripperState:
+        IS_STOP = 0
+        IS_MOTION = 1
+        IS_DETECTED = 2
+        IS_FAULT = 3
+        IS_NOT_ENABLED = 0
+        IS_ENABLING = 1
+        IS_ENABLED = 2
+
+    class CollisionToolType:
+        NONE = 0
+        XARM_GRIPPER = 1
+        XARM_VACUUM_GRIPPER = 2
+        XARM_BIO_GRIPPER = 3
+        ROBOTIQ_2F85 = 4
+        ROBOTIQ_2F140 = 5
+
+        USE_PRIMITIVES = 20  # just for judgement, threshold.
+        CYLINDER = 21  # radius, height
+        BOX = 22  # x, y, z in tool coordinate direction
+    
+    class FeedbackType:
+        MOTION_START = 1
+        MOTION_FINISH = 2
+        TRIGGER = 4
+        OTHER_START = 32
+        OTHER_FINISH = 64
+
+    class FeedbackCode:
+        SUCCESS = 0
+        FAILURE = 1
+        DISCARD = 2
+
+
+

xarm/core/utils/__init__.py

@@ -0,0 +1,3 @@
+#!/usr/bin/python3
+# -*- coding: UTF-8 -*-
+

xarm/core/utils/convert.py

@@ -0,0 +1,124 @@
+#!/usr/bin/env python3
+# -*- coding: UTF-8 -*-
+
+#
+#  ./common_modules/common_type.py
+#  Copyright (C) 2018.4 -  UFactory.
+#  Author: Jimy Zhang   <jimy.zhang@ufactory.cc>
+#                       <jimy92@163.com>
+#
+
+import struct
+
+
+def fp32_to_bytes(data, is_big_endian=False):
+    """小端字节序"""
+    return bytes(struct.pack('>f' if is_big_endian else '<f', data))
+
+
+def int32_to_bytes(data, is_big_endian=False):
+    """小端字节序"""
+    return bytes(struct.pack('>i' if is_big_endian else '<i', data))
+
+
+def int32s_to_bytes(data, n):
+    """小端字节序"""
+    assert n > 0
+    ret = int32_to_bytes(data[0])
+    for i in range(1, n):
+        ret += int32_to_bytes(data[i])
+    return ret
+
+
+def bytes_to_fp32(data):
+    """小端字节序"""
+    byte = bytes([data[0]])
+    byte += bytes([data[1]])
+    byte += bytes([data[2]])
+    byte += bytes([data[3]])
+    ret = struct.unpack('<f', byte)
+    return ret[0]
+
+
+def fp32s_to_bytes(data, n):
+    """小端字节序"""
+    assert n > 0
+    ret = fp32_to_bytes(data[0])
+    for i in range(1, n):
+        ret += fp32_to_bytes(data[i])
+    return ret
+
+
+def bytes_to_fp32s(data, n):
+    """小端字节序"""
+    ret = [0] * n
+    for i in range(n):
+        ret[i] = bytes_to_fp32(data[i * 4:i * 4 + 4])
+    return ret
+
+
+def u16_to_bytes(data):
+    """大端字节序"""
+    bts = bytes([data // 256 % 256])
+    bts += bytes([data % 256])
+    return bts
+
+
+def u16s_to_bytes(data, num):
+    """大端字节序"""
+    bts = b''
+    if num != 0:
+        bts = u16_to_bytes(data[0])
+        for i in range(1, num):
+            bts += u16_to_bytes(data[i])
+    return bts
+
+
+def bytes_to_u16(data):
+    """大端字节序"""
+    data_u16 = data[0] << 8 | data[1]
+    return data_u16
+
+
+def bytes_to_u16s(data, n):
+    """大端字节序"""
+    ret = [0] * n
+    for i in range(n):
+        ret[i] = bytes_to_u16(data[i * 2: i * 2 + 2])
+    return ret
+
+
+def bytes_to_16s(data, n):
+    """大端字节序"""
+    ret = [0] * n
+    for i in range(n):
+        ret[i] = struct.unpack('>h', bytes(data[i * 2: i * 2 + 2]))[0]
+    return ret
+
+
+def bytes_to_u32(data):
+    """大端字节序"""
+    data_u32 = data[0] << 24 | data[1] << 16 | data[2] << 8 | data[3]
+    return data_u32
+
+
+def bytes_to_u64(data):
+    data_u64 = data[0] << 56 | data[1] << 48 | data[2] << 40 | data[3] << 32 | data[4] << 24 | data[5] << 16 | data[6] << 8 | data[7]
+    return data_u64
+
+
+def bytes_to_num32(data, fmt='>l'):
+    byte = bytes([data[0]])
+    byte += bytes([data[1]])
+    byte += bytes([data[2]])
+    byte += bytes([data[3]])
+    ret = struct.unpack(fmt, byte)
+    return ret[0]
+
+
+def bytes_to_long_big(data):
+    """大端字节序"""
+    return bytes_to_num32(data, '>l')
+
+def bytes_to_int32(data):
+    return int.from_bytes(data, byteorder='big', signed=True)