0.4.0

Version 0.4.0

Features

• Delete V1 version code

• Added the 191 return to zero instruction, which requires the robot firmware version to be 1.7-4 or above, and is defined as follows:

  def ReqMasterArmMoveToHome(self, mode:Literal[0, 1, 2])
  '''
  mode (int): Request return-to-zero mode.
  
              0: Restore master-slave arm mode.
  
              1: Master arm return-to-zero.
  
              2: Master and slave arms return-to-zero together.
  '''

• Add can encapsulation file can_encapsulation.py and the revised version can_encapsulation_v0_4_0.py corresponding to the sdk version, add enum inside the class as the status feedback after the can function is executed, and modify the __init__.py of hardware_port and the way to import C_STD_CAN in the interface for this purpose

• Add the import of ArmMsgFeedbackStatusEnum class in __init__.py

• Add log management (piper_sdk/utils/logger_mag.py) and add a fixed log path to store log files (piper_sdk/log)

• Add the formal parameters logger_level, log_to_file, log_file_path related to log in the interface

• Add the demo of piper_set_log_level.py

• The LogLevel definition is as follows:

  class LogLevel(IntEnum):
      DEBUG = logging.DEBUG
      INFO = logging.INFO
      WARNING = logging.WARNING
      ERROR = logging.ERROR
      CRITICAL = logging.CRITICAL
      SILENT = 100

Bug fix

None

Others

• setup.py changed the author to Agilex
• Modified the function comments of the gripper, changed the angle to distance
• Modified the movec function comments, changed the typo "midpoint" to "end point"