Merge pull request #90 from agilexrobotics/0_6_1_beta0

0.6.1

Author: RosenYin

CHANGELOG(ZH).MD

@@ -3,6 +3,33 @@
 [Click to switch EN](CHANGELOG.MD)
 =============
 
+Version 0.6.1
+=============
+
+特性
+--------
+
+- ✨ feat(can_encapsulation): 为`SendCanMessage`增加`dlc`以及`is_extended_id`参数
+- ✨ feat(interface,piper_msgs): 增加CPV模式选择以及注释说明
+  - 可以通过`ModeCtrl(0x01, 0x05)`来切换到CPV模式
+
+Bug修复
+---------
+无
+
+其它
+---------
+
+- 🧪 test(demo): 增加单独设定某个电机的关节限位的demo，`piper_set_motor_angle_limit.py`
+- 🧪 test(demo): 增加cpv模式下控制机械臂设置零点demo，`piper_set_joint_zero_cpv.py`
+- 📃 docs(interface): 修改CreateCanBus函数中bustype参数注释说明
+  - 修改CreateCanBus函数中bustype有关的注释说明，说明预期参数为'socketcan'或'slcan'
+- 🧪 test(demo): 增加moveJ、moveL、moveP三个demo；同步demo中的README
+  - 增加`piper_ctrl_moveJ.py`的demo，与`piper_ctrl_joint.py`内容相同；
+  - 增加`piper_ctrl_moveL.py`的demo，效果为机械臂绘画正方形；
+  - 增加`piper_ctrl_moveP.py`的demo，与`piper_ctrl_end_pose.py`内容相同；
+  - 同步demo的README内容。
+
 Version 0.6.0
 =============
 

CHANGELOG.MD

@@ -3,6 +3,34 @@
 [Click to switch ZH](CHANGELOG(ZH).MD)
 =============
 
+Version 0.6.1
+=============
+
+Features
+--------
+
+- ✨ feat(can_encapsulation): Adds `dlc` and `is_extended_id` parameters to `SendCanMessage`
+- ✨ feat(interface,piper_msgs): Adds CPV mode selection and comments
+  - CPV mode can be switched using `ModeCtrl(0x01, 0x05)`
+
+Bug Fixes
+---------
+
+None
+
+Miscellaneous
+---------
+
+- 🧪 test(demo): Added a demo for setting the joint limit of a single motor, `piper_set_motor_angle_limit.py`
+- 🧪 test(demo): Added a demo for setting the zero point of the robotic arm in CPV mode, `piper_set_joint_zero_cpv.py`
+- 📃 docs(interface): Modified the comment for the bustype parameter in the CreateCanBus function
+  - Modified the comments related to bustype in the `CreateCanBus` function to specify that the expected parameter is `'socketcan'` or `'slcan'`.
+- 🧪 test(demo): Added three demos: moveJ, moveL, and moveP; synchronized the README in the demos.
+  - Added a demo for `piper_ctrl_moveJ.py`, with the same content as `piper_ctrl_joint.py`;
+  - Added a demo for `piper_ctrl_moveL.py`, which shows a robotic arm drawing a square;
+  - Added a demo for `piper_ctrl_moveP.py`, with the same content as `piper_ctrl_end_pose.py`;
+  - Synchronized the README content in the demos.
+
 Version 0.6.0
 =============
 

asserts/V2/INTERFACE_V2.MD

@@ -130,7 +130,7 @@ The robot will immediately lose power and fall down, clearing all errors and int
 
 ```python
 def ModeCtrl(ctrl_mode: Literal[0x00, 0x01] = 0x01,
-            move_mode: Literal[0x00, 0x01, 0x02, 0x03] = 0x01,
+            move_mode: Literal[0x00, 0x01, 0x02, 0x03, 0x04, 0x05] = 0x01,
             move_spd_rate_ctrl: int = 50,
             is_mit_mode: Literal[0x00, 0xAD, 0xFF] = 0x00)
 ```
@@ -147,6 +147,8 @@ Parameters:
   - 0x01: MOVE J (Joint)
   - 0x02: MOVE L (Linear)
   - 0x03: MOVE C (Circular)
+  - 0x04: MOVE M (MIT) ---- Based on version V1.5-2 and later
+  - 0x05: MOVE CPV ---- Based on version V1.8-1 and later
 - `move_spd_rate_ctrl`: Movement speed percentage (0-100)
 - `is_mit_mode`:
   - 0x00: Position-velocity mode

piper_sdk/demo/V2/README.MD

@@ -33,9 +33,14 @@ Instructions for activating the CAN module [can README](../../asserts/can_config
 |[`piper_ctrl_disable.py`](./piper_ctrl_disable.py)|Disable the robotic arm.|
 |[`piper_ctrl_enable.py`](./piper_ctrl_enable.py)|Enable the robotic arm.|
 |[`piper_ctrl_end_pose.py`](./piper_ctrl_end_pose.py)|Control the end-effector of the robotic arm.|
+|[`piper_ctrl_go_zero.py`](./piper_ctrl_go_zero.py)|Control the robotic arm to the zero position.|
 |[`piper_ctrl_gripper.py`](./piper_ctrl_gripper.py)|Control the robotic arm gripper.|
 |[`piper_ctrl_joint.py`](./piper_ctrl_joint.py)|Control the robotic arm joints.|
+|[`piper_ctrl_line.py`](./piper_ctrl_line.py)|Control the robotic arm in line motion mode.|
 |[`piper_ctrl_moveC.py`](./piper_ctrl_moveC.py)|Set the robotic arm to circular motion mode.|
+|[`piper_ctrl_moveJ.py`](./piper_ctrl_moveJ.py)|Control the joint movement of the robotic arm.|
+|[`piper_ctrl_moveL.py`](./piper_ctrl_moveL.py)|Control the robotic arm to draw a square on the XOY plane.|
+|[`piper_ctrl_moveP.py`](./piper_ctrl_moveP.py)|Control the movement of the robotic arm's end effector.|
 |[`piper_ctrl_reset.py`](./piper_ctrl_reset.py)|Reset the robotic arm. This must be executed once after setting it to teaching mode.|
 |[`piper_ctrl_stop.py`](./piper_ctrl_stop.py)|Stop the robotic arm and allow it to descend slowly. After use, reset and re-enable twice before resuming normal control.|
 |[`piper_read_all_fps.py`](./piper_read_all_fps.py)|Read the frequency of specified robotic arm data.|
@@ -50,13 +55,22 @@ Instructions for activating the CAN module [can README](../../asserts/can_config
 |[`piper_read_joint_ctrl.py`](./piper_read_joint_ctrl.py)|Read and print joint control messages.|
 |[`piper_read_joint_state.py`](./piper_read_joint_state.py)|Read and print joint state messages.|
 |[`piper_read_low_msg.py`](./piper_read_low_msg.py)|Read low-speed messages from the robotic arm.|
+|[`piper_read_mode_ctrl_canid_151.py`](./piper_read_mode_ctrl_canid_151.py)|Read the current mode control message from CAN ID 151.|
+|[`piper_read_mode_ctrl.py`](./piper_read_mode_ctrl.py)|Read the current mode control message from CAN ID 151.|
+|[`piper_read_resp_instruction.py`](./piper_read_resp_instruction.py)|Read the current instruction of the robotic arm.|
 |[`piper_read_status.py`](./piper_read_status.py)|Read the current status of the robotic arm.|
+|[`piper_read_tcp_pose.py`](./piper_read_tcp_pose.py)|Read the tool center point (TCP) pose.|
 |[`piper_read_version.py`](./piper_read_version.py)|Read the software version of each module in the robotic arm SDK.|
+|[`piper_set_can.py`](./piper_set_can.py)|Set the CAN bus parameters for the robotic arm.|
 |[`piper_set_gripper_zero.py`](./piper_set_gripper_zero.py)|Set the zero position of the robotic arm gripper.|
 |[`piper_set_init_default.py`](./piper_set_init_default.py)|Set all joint limits, maximum joint speeds, and joint accelerations to default values.|
+|[`piper_set_joint_zero_cpv.py`](./piper_set_joint_zero_cpv.py)|Set the joint motor zero-point position (including zero-point learning calibration in CPV mode).|
+|[`piper_set_joint_zero.py`](./piper_set_joint_zero.py)|Set the zero position of the robotic arm joints.|
 |[`piper_set_load.py`](./piper_set_load.py)|Set the end load parameters for the robotic arm.|
+|[`piper_set_log_level.py`](./piper_set_log_level.py)|Set the log level for the robotic arm SDK.|
 |[`piper_set_master.py`](./piper_set_master.py)|Set the robotic arm as the master arm.|
 |[`piper_set_mit.py`](./piper_set_mit.py)|Set the robotic arm to MIT mode, which provides the fastest response.|
+|[`piper_set_motor_angle_limit.py`](./piper_set_motor_angle_limit.py)|Set the angle limits for individual joint motors.|
 |[`piper_set_motor_max_acc_limit.py`](./piper_set_motor_max_acc_limit.py)|Set the maximum acceleration limit for individual joint motors.|
 |[`piper_set_sdk_param.py`](./piper_set_sdk_param.py)|Set SDK parameters for joint and gripper limits.|
 |[`piper_set_slave.py`](./piper_set_slave.py)|Set the robotic arm as the slave arm.|

piper_sdk/demo/V2/piper_ctrl_moveJ.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+# -*-coding:utf8-*-
+# 注意demo无法直接运行，需要pip安装sdk后才能运行
+import time
+from piper_sdk import *
+
+if __name__ == "__main__":
+    piper = C_PiperInterface_V2("can0")
+    piper.ConnectPort()
+    while( not piper.EnablePiper()):
+        time.sleep(0.01)
+    piper.GripperCtrl(0,1000,0x01, 0)
+    factor = 57295.7795 #1000*180/3.1415926
+    position = [0,0,0,0,0,0,0]
+    count = 0
+    while True:
+        count  = count + 1
+        # print(count)
+        if(count == 0):
+            print("1-----------")
+            position = [0,0,0,0,0,0,0]
+        elif(count == 300):
+            print("2-----------")
+            position = [0.2,0.2,-0.2,0.3,-0.2,0.5,0.08]
+        elif(count == 600):
+            print("1-----------")
+            position = [0,0,0,0,0,0,0]
+            count = 0
+        
+        joint_0 = round(position[0]*factor)
+        joint_1 = round(position[1]*factor)
+        joint_2 = round(position[2]*factor)
+        joint_3 = round(position[3]*factor)
+        joint_4 = round(position[4]*factor)
+        joint_5 = round(position[5]*factor)
+        joint_6 = round(position[6]*1000*1000)
+        piper.MotionCtrl_2(0x01, 0x01, 100, 0x00)
+        piper.JointCtrl(joint_0, joint_1, joint_2, joint_3, joint_4, joint_5)
+        piper.GripperCtrl(abs(joint_6), 1000, 0x01, 0)
+        print(piper.GetArmStatus())
+        print(position)
+        time.sleep(0.005)
+    

piper_sdk/demo/V2/piper_ctrl_moveL.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+# -*-coding:utf8-*-
+# 注意demo无法直接运行，需要pip安装sdk后才能运行
+# piper机械臂直线模式demo
+# 注意机械臂工作空间内不要有障碍
+import time
+from piper_sdk import *
+
+if __name__ == "__main__":
+    piper = C_PiperInterface_V2("can0")
+    piper.ConnectPort()
+    while( not piper.EnablePiper()):
+        time.sleep(0.01)
+    
+    # 在XOY平面上画正方形
+    # 切换至MOVEP模式，移动到初始位置
+    piper.MotionCtrl_2(0x01, 0x00, 100, 0x00)
+    piper.EndPoseCtrl(150000, -50000, 150000, -179900, 0, -179900)
+    time.sleep(2)
+
+    # 切换至MOVEL模式
+    piper.MotionCtrl_2(0x01, 0x02, 100, 0x00)
+    piper.EndPoseCtrl(150000, 50000, 150000, -179900, 0, -179900)
+    time.sleep(2)
+
+    piper.MotionCtrl_2(0x01, 0x02, 100, 0x00)
+    piper.EndPoseCtrl(250000, 50000, 150000, -179900, 0, -179900)
+    time.sleep(2)
+
+    piper.MotionCtrl_2(0x01, 0x02, 100, 0x00)
+    piper.EndPoseCtrl(250000, -50000, 150000, -179900, 0, -179900)
+    time.sleep(2)
+
+    piper.MotionCtrl_2(0x01, 0x02, 100, 0x00)
+    piper.EndPoseCtrl(150000, -50000, 150000, -179900, 0, -179900)
+
+
+    

piper_sdk/demo/V2/piper_ctrl_moveP.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+# -*-coding:utf8-*-
+# 注意demo无法直接运行，需要pip安装sdk后才能运行
+import time
+from piper_sdk import *
+
+if __name__ == "__main__":
+    piper = C_PiperInterface_V2("can0")
+    piper.ConnectPort()
+    while( not piper.EnablePiper()):
+        time.sleep(0.01)
+    piper.GripperCtrl(0,1000,0x01, 0)
+    factor = 1000
+    position = [
+                57.0, \
+                0.0, \
+                215.0, \
+                0, \
+                85.0, \
+                0, \
+                0]
+
+    count = 0
+    while True:
+        print(piper.GetArmEndPoseMsgs())
+        count  = count + 1
+        if(count == 0):
+            print("1-----------")
+            position = [
+                57.0, \
+                0.0, \
+                215.0, \
+                0, \
+                85.0, \
+                0, \
+                0]
+        elif(count == 200):
+            print("2-----------")
+            position = [
+                57.0, \
+                0.0, \
+                260.0, \
+                0, \
+                85.0, \
+                0, \
+                0]
+        elif(count == 400):
+            print("1-----------")
+            position = [
+                57.0, \
+                0.0, \
+                215.0, \
+                0, \
+                85.0, \
+                0, \
+                0]
+            count = 0
+        
+        X = round(position[0]*factor)
+        Y = round(position[1]*factor)
+        Z = round(position[2]*factor)
+        RX = round(position[3]*factor)
+        RY = round(position[4]*factor)
+        RZ = round(position[5]*factor)
+        joint_6 = round(position[6]*factor)
+        print(X,Y,Z,RX,RY,RZ)
+        piper.MotionCtrl_2(0x01, 0x00, 100, 0x00)
+        piper.EndPoseCtrl(X,Y,Z,RX,RY,RZ)
+        piper.GripperCtrl(abs(joint_6), 1000, 0x01, 0)
+        time.sleep(0.01)
+