xarm-python-sdk 1.17.3__tar.gz → 1.18.2__tar.gz

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/.gitignore

@@ -9,4 +9,5 @@ example/test/
 example/wrapper/bak/
 example/wrapper/robot.conf
 bak-xarm/
-.vscode/
+.vscode/
+.claude/

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: xarm-python-sdk
-Version: 1.17.3
+Version: 1.18.2
 Summary: Python SDK for UFACTORY robotic arm 850, xArm 5/6/7, and Lite6.
 Project-URL: Homepage, https://www.ufactory.cc
 Project-URL: Documentation, https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/doc/api/xarm_api.md

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/README.md

@@ -42,7 +42,13 @@ xArm Python SDK
 - #### [UFACTORY ModbusTCP Manual](doc/UF_ModbusTCP_Manual.md)
 
 ## Update Summary
-- > ### 1.17.0/1.7.1
+- > ### 1.18.2
+  - Added BytesData for data conversion
+  - Added data structure for report data
+  - Update the reported data for port 30002
+  - Increase execution speed by adding paramster to reduce the number of checks performed by the gripper apis
+
+- > ### 1.17.0/1.17.1
   - Change some API names
 
 - > ### 1.16.0

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/ReleaseNotes.md

@@ -1,6 +1,11 @@
 # xArm-Python-SDK Release Notes
 
 ## Update Summary
+- > ### 1.18.2
+  - Added BytesData for data conversion
+  - Added data structure for report data
+  - Update the reported data for port 30002
+  - Increase execution speed by adding paramster to reduce the number of checks performed by the gripper apis
 
 - > ### 1.17.0/1.7.1 
   - Change some API names

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.18.2): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -783,7 +783,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     point: initial point, [J1, J2, ..., J7]
 
 
-#### def __get_inverse_kinematics__(self, pose, input_is_radian=None, return_is_radian=None):
+#### def __get_inverse_kinematics__(self, pose, input_is_radian=None, return_is_radian=None, limited=True, ref_angles=None):
 
 > Get inverse kinematics  
 >   
@@ -791,6 +791,11 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     Note: the roll/pitch/yaw unit is radian if input_is_radian is True, else °  
 > :param input_is_radian: the param pose value(only roll/pitch/yaw) is in radians or not, default is self.default_is_radian  
 > :param return_is_radian: the returned value is in radians or not, default is self.default_is_radian  
+> :param limited: the result is limited to within ±180° or not, default is True  
+>     Note: only available if firmware_version >= 2.7.103  
+> :param ref_angles: reference values for joint angles  
+>     Note: unit is radian if input_is_radian is True, else °  
+>     Note: only available if firmware_version >= 2.7.103  
 > :return: tuple((code, angles)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
 >     angles: [angle-1(rad or °), angle-2, ..., angle-(Number of axes)] or []  
@@ -940,6 +945,15 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     factor: linear speed limit factor
 
 
+#### def __get_modbusrtu_params__(self):
+
+> Get the params of the Modbus RTU  
+>   
+> :return: tuple((code, params)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     params: [slave_id, baudrate, stopbits, parity]
+
+
 #### def __get_mount_direction__(self):
 
 > Get the mount degrees from studio  
@@ -1276,6 +1290,19 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
+#### def __get_xarm7_ik_redundancy__(self):
+
+> set the redundant solution parameters for xArm7  
+> Note:  
+>     1. only available if firmware_version >= 2.7.107  
+>   
+> :return: tuple((code, params)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
+>     params: [jnt_ref, punish_coeff]   
+>         jnt_ref: reference joint angle   
+>         punish_coeff: penalty multiplier
+
+
 #### def __getset_tgpio_modbus_data__(self, datas, min_res_len=0, host_id=9, is_transparent_transmission=False, use_503_port=False, **kwargs):
 
 > Send the modbus data to the RS485 (please use set_rs485_data replace)  
@@ -1854,7 +1881,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     robotiq_response: See the robotiq documentation
 
 
-#### def __robotiq_get_status__(self, number_of_registers=3):
+#### def __robotiq_get_status__(self, number_of_registers=3, **kwargs):
 
 > Reading the status of robotiq gripper  
 >   
@@ -1886,7 +1913,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     robotiq_response: See the robotiq documentation
 
 
-#### def __robotiq_reset__(self):
+#### def __robotiq_reset__(self, **kwargs):
 
 > Reset the robotiq gripper (clear previous activation if any)  
 >   
@@ -1895,7 +1922,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     robotiq_response: See the robotiq documentation
 
 
-#### def __robotiq_set_activate__(self, wait=True, timeout=3):
+#### def __robotiq_set_activate__(self, wait=True, timeout=3, **kwargs):
 
 > If not already activated. Activate the robotiq gripper  
 >   
@@ -2071,7 +2098,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __set_bio_gripper_control_mode__(self, mode):
+#### def __set_bio_gripper_control_mode__(self, mode, **kwargs):
 
 > Set the bio gripper control mode  
 > Note:  
@@ -2085,7 +2112,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __set_bio_gripper_enable__(self, enable=True, wait=True, timeout=3):
+#### def __set_bio_gripper_enable__(self, enable=True, wait=True, timeout=3, **kwargs):
 
 > If not already enabled. Enable the bio gripper  
 >   
@@ -2097,7 +2124,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __set_bio_gripper_force__(self, force):
+#### def __set_bio_gripper_force__(self, force, **kwargs):
 
 > Set the bio gripper force  
 > Note:  
@@ -2124,7 +2151,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     robotiq_response: See the robotiq documentation
 
 
-#### def __set_bio_gripper_speed__(self, speed):
+#### def __set_bio_gripper_speed__(self, speed, **kwargs):
 
 > Set the speed of the bio gripper  
 >   
@@ -2359,7 +2386,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
-#### def __set_dhpgc_gripper_activate__(self, wait=True, timeout=3):
+#### def __set_dhpgc_gripper_activate__(self, wait=True, timeout=3, **kwargs):
 
 > If not already activated. Activate the DH-PGC-140-50 gripper  
 >   
@@ -2693,7 +2720,7 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 
 > Set the gripper speed  
 >   
-> :param speed:  
+> :param speed: gripper speed, unit: r/min  
 > :return: code  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
@@ -2815,6 +2842,20 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
+#### def __set_modbusrtu_params__(self, slave_id, baudrate, stopbits=1, parity=0):
+
+> Set the params of the Modbus RTU  
+>   
+> :param slave_id: slave ID, 1-247, default is 1  
+> :param baudrate: baudrate, (4800, 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600,  
+>          1000000, 1500000, 2000000)  
+> :param stopbits: 1/2, default is 1  
+> :param parity: 0/1/2, default is 0  
+>   
+> :return code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
 #### def __set_mode__(self, mode=0, detection_param=0):
 
 > Set the xArm mode  
@@ -3510,6 +3551,19 @@ xArm-Python-SDK API Documentation (V1.17.3): class XArmAPI in module xarm.wrappe
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
+#### def __set_xarm7_ik_redundancy__(self, jnt_ref, punish_coeff):
+
+> set the redundant solution parameters for xArm7  
+> Note:  
+>     1. only available if firmware_version >= 2.7.107  
+>   
+> :param jnt_ref: reference joint angle, default is all 0. The 7 joint solutions will try to be as close as possible to the set joint angle  
+> :param punish_coeff: penalty multiplier, currently set in the range of 1-10. If the deviation is too large, the penalty will increase according to the multiplier, that is, the cost will be higher. Joints with larger multipliers will be given priority to stay near the reference angle.  
+>   
+> :return: code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
 #### def __start_record_trajectory__(self):
 
 > Start trajectory recording, only in teach mode, so you need to set joint teaching mode before.  

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/example/wrapper/common/3004-get_report_data.py

@@ -19,7 +19,7 @@ import datetime
 sys.path.insert(0, os.path.join(os.path.dirname(__file__), '../../..'))
 
 from xarm.core.comm import SocketPort
-from xarm.core.utils import convert
+from xarm.core.utils.bytes_data import BytesData
 
 
 #######################################################
@@ -49,9 +49,9 @@ while sock.connected:
     if data == -1:
         time.sleep(0.1)
         continue
-    total = convert.bytes_to_u32(data[0:4])
-    angles = convert.bytes_to_fp32s(data[7:35], 7)
-    poses = convert.bytes_to_fp32s(data[35:59], 6)
+    total = BytesData.to_u32(data[0:4])
+    angles = BytesData.to_fp32_list(data[7:35], 7)
+    poses = BytesData.to_fp32_list(data[35:59], 6)
     print('total={}, now={}'.format(total, datetime.datetime.now()))
     print('angles: {}'.format(angles))
     print('poses: {}'.format(poses))

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/example/wrapper/common/3005-task_feedback.py

@@ -19,7 +19,7 @@ import datetime
 sys.path.insert(0, os.path.join(os.path.dirname(__file__), '../../..'))
 
 from xarm.wrapper import XArmAPI
-from xarm.core.utils import convert
+from xarm.core.utils.bytes_data import BytesData
 
 
 #######################################################
@@ -51,12 +51,12 @@ arm.set_state(0)
 # arm.set_cgpio_digital(0, 0)
 
 def feedback_callback(data):
-    cmd_id = convert.bytes_to_u16(data[0:2])
+    cmd_id = BytesData.to_u16(data[0:2])
     feedback_type = data[8]
     feedback_funcode = data[9]
-    feedback_taskid = convert.bytes_to_u16(data[10:12])
+    feedback_taskid = BytesData.to_u16(data[10:12])
     feedback_code = data[12]
-    feedback_us = convert.bytes_to_u64(data[13:21])
+    feedback_us = BytesData.to_u64(data[13:21])
     if feedback_type == 1:
         # motion start
         print('[FB] motion task {} starts executing, funcode={}, cmd_id={}, us={}, {}'.format(feedback_taskid, feedback_funcode, cmd_id, feedback_us, datetime.datetime.now()))

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/xarm/core/comm/__init__.py

@@ -1,5 +1,5 @@
 try:
     from .serial_port import SerialPort
-except:
+except ImportError:
     SerialPort = None
 from .socket_port import SocketPort

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/xarm/core/comm/base.py

@@ -12,7 +12,7 @@ import socket
 import select
 import threading
 from ..utils.log import logger
-from ..utils import convert
+from ..utils.bytes_data import BytesData
 
 
 class RxParse(object):
@@ -182,7 +182,7 @@ class Port(threading.Thread):
                     if size == 0:
                         if data_num != 4:
                             continue
-                        size = convert.bytes_to_u32(buffer[0:4])
+                        size = BytesData.to_u32(buffer[0:4])
                         if size == 233:
                             size_is_not_confirm = True
                             size = 245
@@ -192,17 +192,17 @@ class Port(threading.Thread):
                             continue
                         if size_is_not_confirm:
                             size_is_not_confirm = True
-                            if convert.bytes_to_u32(buffer[233:237]) == 233:
+                            if BytesData.to_u32(buffer[233:237]) == 233:
                                 size = 233
                                 buffer = buffer[233:]
                                 continue
 
-                        if convert.bytes_to_u32(buffer[0:4]) != size and not (size_is_not_confirm and size == 245 and convert.bytes_to_u32(buffer[0:4]) == 233):
-                            logger.error('report data error, close, length={}, size={}'.format(convert.bytes_to_u32(buffer[0:4]), size))
+                        if BytesData.to_u32(buffer[0:4]) != size and not (size_is_not_confirm and size == 245 and BytesData.to_u32(buffer[0:4]) == 233):
+                            logger.error('report data error, close, length={}, size={}'.format(BytesData.to_u32(buffer[0:4]), size))
                             break
 
                         # # buffer[494:502]
-                        # data_curr_us = convert.bytes_to_u64(buffer[-8:])
+                        # data_curr_us = BytesData.to_u64(buffer[-8:])
                         # recv_curr_us = time.monotonic() * 1000000
                         #
                         # if data_prev_us != 0 and recv_prev_us != 0:
@@ -276,7 +276,7 @@ class Port(threading.Thread):
                     while True:
                         if len(buffer) < 6:
                             break
-                        length = convert.bytes_to_u16(buffer[4:6]) + 6
+                        length = BytesData.to_u16(buffer[4:6]) + 6
                         if len(buffer) < length:
                             break
                         rx_data = buffer[:length]

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/xarm/core/config/x_code.py

@@ -111,7 +111,7 @@ ServoCodeMap = {
     21: {
         'en': {
             'title': 'Driver IC Initialization Error',
-            'desc': 'Please restart the xArm with the Emergency Stop Button on the xArm Controller. If multiple reboots are not working, please contact technical support.If multiple reboots are invalid, please contact technical support.',
+            'desc': 'Please restart the xArm with the Emergency Stop Button on the xArm Controller. If multiple reboots are not working, please contact technical support. If multiple reboots are invalid, please contact technical support.',
         },
         'cn': {
             'title': '驱动IC初始化异常',
@@ -221,7 +221,7 @@ ServoCodeMap = {
     40: {
         'en': {
             'title': 'Joint Voltage Insufficient',
-            'desc': 'Please reduce the acceleration value in the Motion Settings.Please check if the controller emergency stop switch is released.',
+            'desc': 'Please reduce the acceleration value in the Motion Settings. Please check if the controller emergency stop switch is released.',
         },
         'cn': {
             'title': '关节欠压',
@@ -627,7 +627,7 @@ ControllerErrorCodeMap = {
     27: {
         'en': {
             'title': 'Command Reply Error',
-            'desc': 'Pleas retry, or restart the xArm with the Emergency Stop Button on the xArm Controller. If multiple reboots are not working, please contact technical support.'
+            'desc': 'Please retry, or restart the xArm with the Emergency Stop Button on the xArm Controller. If multiple reboots are not working, please contact technical support.'
         },
         'cn': {
             'title': '回复指令错误 ',
@@ -924,7 +924,7 @@ RobotiqErrorCodeMap = {
     0x05: {
         'en': {
             'title': 'Robotiq Gripper',
-            'desc': 'Action delayed, activation(reactivation) must be completed prior to perfmoring the action'
+            'desc': 'Action delayed, activation(reactivation) must be completed prior to performing the action'
         },
         'cn': {
             'title': 'Robotiq 机械爪',
@@ -994,7 +994,7 @@ RobotiqErrorCodeMap = {
     0x0D: {
         'en': {
             'title': 'Robotiq Gripper',
-            'desc': 'Activation fault, please verify that no interference or other erroro ccurred'
+            'desc': 'Activation fault, please verify that no interference or other error occurred'
         },
         'cn': {
             'title': 'Robotiq 机械爪',
@@ -1210,7 +1210,7 @@ LinearMotorErrorCodeMap = {
     },
     40: {
         'en': {
-            'title': 'Linear Moter undervoltage',
+            'title': 'Linear Motor undervoltage',
             'desc': 'please contact technical support.',
         },
         'cn': {
@@ -1284,7 +1284,7 @@ FtSensorErrorCodeMap = {
     },
     68: {
         'en': {
-            'title': 'Six-axis Force Torque Sensor Z-direction Torque Exceeds Limitrection',
+            'title': 'Six-axis Force Torque Sensor Z-direction Torque Exceeds Limit',
             'desc': '',
         },
         'cn': {

{xarm_python_sdk-1.17.3 → xarm_python_sdk-1.18.2}/xarm/core/config/x_config.py

@@ -14,13 +14,13 @@ class XCONF(object):
     MAX_CMD_NUM = 1024
 
     LINEAR_MOTOR_ID = 1
-    TRACK_ID = LINEAR_MOTOR_ID # old
+    TRACK_ID = LINEAR_MOTOR_ID # 不再使用, 保留只为了兼容旧代码
     GRIPPER_ID = 8
 
     ROBOT_RS485_HOST_ID = 9
     CONTROL_BOX_RS485_HOST_ID = 11
-    TGPIO_HOST_ID = ROBOT_RS485_HOST_ID # old
-    LINEER_TRACK_HOST_ID = CONTROL_BOX_RS485_HOST_ID # old
+    TGPIO_HOST_ID = ROBOT_RS485_HOST_ID # 不再使用, 保留只为了兼容旧代码
+    LINEER_TRACK_HOST_ID = CONTROL_BOX_RS485_HOST_ID # 不再使用, 保留只为了兼容旧代码
 
     def __init__(self):
         pass
@@ -256,6 +256,7 @@ class XCONF(object):
 
     class SocketConf:
         TCP_CONTROL_PORT = 502
+        TCP_REPORT_RT_PORT = 30000
         TCP_REPORT_NORM_PORT = 30001
         TCP_REPORT_RICH_PORT = 30002
         TCP_REPORT_REAL_PORT = 30003