update 1.3.10

pyproject.toml

@@ -8,7 +8,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rocs_client"
-version = "1.3.9"
+version = "1.3.10"
 authors = [{name = "jax", email = "ming.li@fftai.com"}]
 license = {text = "MIT"}
 requires-python = ">=3.8"

rocs_client/robot/human.py

@@ -551,6 +551,43 @@ def head(self, roll: float, pitch: float, yaw: float):
             }
         })
 
+    def waist(self, roll: float, pitch: float, yaw: float):
+        """
+        Control the movement of the robot's waist via a long-lived connection.
+
+        Args:
+            roll (float): Rotation around the x-axis. Negative values turn the head to the left,
+                         and positive values turn it to the right. Range: -17.1887 to 17.1887.
+            pitch (float): Rotation around the y-axis. Positive values tilt the head forward,
+                          and negative values tilt it backward. Range: -17.1887 to 17.1887.
+            yaw (float): Rotation around the z-axis. Negative values twist the head to the left,
+                        and positive values twist it to the right. Range: -17.1887 to 17.1887.
+
+        Returns:
+            None
+
+        Raises:
+            Any exceptions raised during the execution.
+
+        Notes:
+            - The request is sent via a long-lived connection.
+            - The roll, pitch, and yaw values are automatically adjusted to fit within the specified valid ranges if they go beyond the given thresholds.
+
+        Example:
+            To turn the robot's head to the right (roll), tilt it backward (pitch), and twist it to the left (yaw):
+
+            >>> Human.waist(roll=10.0, pitch=-5.0, yaw=-7.0)
+        """
+
+        self._send_websocket_msg({
+            'command': 'waist',
+            'data': {
+                'roll': self._cover_param(roll, "roll", -17.1887, 17.1887),
+                'pitch': self._cover_param(pitch, "pitch", -17.1887, 17.1887),
+                'yaw': self._cover_param(yaw, "yaw", -17.1887, 17.1887)
+            }
+        })
+
     def upper_body(self, arm: ArmAction = None, hand: HandAction = None):
         """
         Execute predefined upper body actions by setting arm and hand movements.

test/test_human.py

@@ -22,7 +22,7 @@ async def on_error(error: Exception):
 
 
 class TestHuman(unittest.TestCase):
-    human = Human(on_connected=on_connected, host="127.0.0.1", on_message=on_message, on_close=on_close,
+    human = Human(on_connected=on_connected, host="192.168.12.1", on_message=on_message, on_close=on_close,
                   on_error=on_error)
 
     def test_enable_debug_state(self):
@@ -111,3 +111,8 @@ def test_close_control_svr(self):
     def test_status_control_svr(self):
         print('test_status_control_svr: ', self.human._control_svr_status())
         self.human.exit()
+
+    def test_waist(self):
+        self.human.waist(0, 0, 0)
+        time.sleep(5)
+        self.human.exit()

test/test_motor.py

@@ -5,7 +5,7 @@
 
 from rocs_client import Motor
 
-motor = Motor(host="192.168.137.210")
+motor = Motor(host="192.168.12.1")
 
 arm_motor = motor.limits[0:17] if len(motor.limits) > 18 else []
 clamping_jaw = motor.limits[17:19] if len(motor.limits) > 20 else []
@@ -15,7 +15,7 @@
 print(f'clamping_jaw: {clamping_jaw}')
 print(f'dexterous_hand: {dexterous_hand}')
 
-motors = arm_motor + clamping_jaw
+motors = arm_motor + dexterous_hand
 
 
 def set_pds_flag():
@@ -246,7 +246,7 @@ def test_move3(self):
         enable_all()
 
         for i in range(1, 5):
-            smooth_motion_by_interpolation('3', 'right', 10)
-            smooth_motion_by_interpolation('3', 'right', -10)
+            smooth_motion_by_interpolation('0', 'yaw', 30)
+            smooth_motion_by_interpolation('0', 'yaw', -30)
 
-        disable_all()
+        # disable_all()