270/280新增判断是否力控夹爪接口、修改设置夹爪开合接口

Author: wangWking

pymycobot/error.py

@@ -550,9 +550,11 @@ def calibration_parameters(**kwargs):
             elif parameter == 'flag':
                 check_0_or_1(parameter, value, [0, 1, 254], value_type, MyCobot280DataException, int)
             elif parameter == 'gripper_type':
-                check_0_or_1(parameter, value, [1, 3, 4], value_type, MyCobot280DataException, int)
+                if value is not None:
+                    check_0_or_1(parameter, value, [1, 3, 4, 5], value_type, MyCobot280DataException, int)
             elif parameter == '_type_1':
-                check_0_or_1(parameter, value, [1, 2, 3, 4], value_type, MyCobot280DataException, int)
+                if value is not None:
+                    check_0_or_1(parameter, value, [1, 2, 3, 4, 5], value_type, MyCobot280DataException, int)
             elif parameter == 'gripper_value':
                 check_value_type(parameter, value_type, MyCobot280DataException, int)
                 if value < 0 or value > 100:
@@ -636,6 +638,9 @@ def calibration_parameters(**kwargs):
                                                                                          value))
             elif parameter == 'end_direction':
                 check_0_or_1(parameter, value, [1, 2, 3], value_type, MyCobot280DataException, int)
+            elif parameter == 'is_torque':
+                if value is not None:
+                    check_0_or_1(parameter, value, [0, 1], value_type, MyCobot280DataException, int)
     elif class_name in ["MyCobot320", "MyCobot320Socket"]:
         for parameter in parameter_list[1:]:
             value = kwargs.get(parameter, None)
@@ -756,6 +761,7 @@ def calibration_parameters(**kwargs):
                 check_0_or_1(parameter, value, [1, 2, 3], value_type, MyCobot320DataException, int)
             elif parameter == "gripper_angle":
                 gripper_id, gripper_angle = value
+                print(type(gripper_id), type(gripper_angle))
                 if not isinstance(gripper_id, int) or not isinstance(gripper_angle, int):
                     raise MyCobot320DataException(
                         "Both 'gripper_id' and 'gripper_angle' in {} must be integers".format(parameter))
@@ -921,11 +927,14 @@ def calibration_parameters(**kwargs):
                         % value
                     )
             elif parameter == 'flag':
-                check_0_or_1(parameter, value, [0, 1, 254], value_type, MechArmDataException, int)
+                if value is not None:
+                    check_0_or_1(parameter, value, [0, 1, 254], value_type, MechArmDataException, int)
             elif parameter == 'gripper_type':
-                check_0_or_1(parameter, value, [1, 3, 4], value_type, MechArmDataException, int)
+                if value is not None:
+                    check_0_or_1(parameter, value, [1, 3, 4, 5], value_type, MechArmDataException, int)
             elif parameter == '_type_1':
-                check_0_or_1(parameter, value, [1, 2, 3, 4], value_type, MechArmDataException, int)
+                if value is not None:
+                    check_0_or_1(parameter, value, [1, 2, 3, 4, 5], value_type, MechArmDataException, int)
                 # if value not in [0, 1, 10]:
                 #     raise exception_class("The data supported by parameter {} is 0 or 1 or 10, but the received value is {}".format(parameter, value))
             elif parameter == 'gripper_value':
@@ -1010,6 +1019,9 @@ def calibration_parameters(**kwargs):
                                                                                          value))
             elif parameter == 'end_direction':
                 check_0_or_1(parameter, value, [1, 2, 3], value_type, MechArmDataException, int)
+            elif parameter == 'is_torque':
+                if value is not None:
+                    check_0_or_1(parameter, value, [0, 1], value_type, MyCobot280DataException, int)
     elif class_name in ["MyArm", "MyArmSocket"]:
         public_check(parameter_list, kwargs, robot_limit, class_name, MyArmDataException)
         for parameter in parameter_list[1:]:

pymycobot/mecharm270.py

@@ -674,6 +674,61 @@ def set_vision_mode(self, flag):
         self.calibration_parameters(class_name=self.__class__.__name__, flag=flag)
         return self._mesg(ProtocolCode.SET_VISION_MODE, flag)
 
+    def is_torque_gripper(self):
+        """Whether it is a force-controlled gripper
+
+        Return:
+            1 - Force control
+            0 - Non-force control
+        """
+        return self.get_servo_data(7, 1)
+
+    def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
+        """Set gripper switch state
+
+        Args:
+            flag  (int): 0 - open, 1 - close, 254 - release
+            speed (int): 1 ~ 100
+            _type_1 (int): default 1
+                1 : Adaptive gripper. default to adaptive gripper
+                2 : 5 finger dexterous hand
+                3 : Parallel gripper, this parameter can be omitted
+                4 : Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, speed=speed, _type_1=_type_1, is_torque=is_torque)
+        args = [flag, speed]
+        if _type_1 is not None:
+            args.append(_type_1)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_STATE, *args)
+
+    def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=None):
+        """Set gripper value
+
+        Args:
+            gripper_value (int): 0 ~ 100
+            speed (int): 1 ~ 100
+            gripper_type (int): default 1
+                1: Adaptive gripper
+                3: Parallel gripper, this parameter can be omitted
+                4: Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, speed=speed,
+                                    gripper_type=gripper_type, is_torque=is_torque)
+        args = [gripper_value, speed]
+        if gripper_type is not None:
+            args.append(gripper_type)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, *args, has_reply=True)
+
     # Other
     def wait(self, t):
         time.sleep(t)

pymycobot/mecharmsocket.py

@@ -689,6 +689,61 @@ def set_vision_mode(self, flag):
         self.calibration_parameters(class_name=self.__class__.__name__, flag=flag)
         return self._mesg(ProtocolCode.SET_VISION_MODE, flag)
 
+    def is_torque_gripper(self):
+        """Whether it is a force-controlled gripper
+
+        Return:
+            1 - Force control
+            0 - Non-force control
+        """
+        return self.get_servo_data(7, 1)
+
+    def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
+        """Set gripper switch state
+
+        Args:
+            flag  (int): 0 - open, 1 - close, 254 - release
+            speed (int): 1 ~ 100
+            _type_1 (int): default 1
+                1 : Adaptive gripper. default to adaptive gripper
+                2 : 5 finger dexterous hand
+                3 : Parallel gripper, this parameter can be omitted
+                4 : Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, speed=speed, _type_1=_type_1, is_torque=is_torque)
+        args = [flag, speed]
+        if _type_1 is not None:
+            args.append(_type_1)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_STATE, *args)
+
+    def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=None):
+        """Set gripper value
+
+        Args:
+            gripper_value (int): 0 ~ 100
+            speed (int): 1 ~ 100
+            gripper_type (int): default 1
+                1: Adaptive gripper
+                3: Parallel gripper, this parameter can be omitted
+                4: Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, speed=speed,
+                                    gripper_type=gripper_type, is_torque=is_torque)
+        args = [gripper_value, speed]
+        if gripper_type is not None:
+            args.append(gripper_type)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, *args, has_reply=True)
+
     # Other
     def wait(self, t):
         time.sleep(t)

pymycobot/mycobot280.py

@@ -707,6 +707,61 @@ def set_vision_mode(self, flag):
         self.calibration_parameters(class_name=self.__class__.__name__, flag=flag)
         return self._mesg(ProtocolCode.SET_VISION_MODE, flag)
 
+    def is_torque_gripper(self):
+        """Whether it is a force-controlled gripper
+
+        Return:
+            40 - Force control
+            9 - Non-force control
+        """
+        return self.get_servo_data(7, 1)
+
+    def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
+        """Set gripper switch state
+
+        Args:
+            flag  (int): 0 - open, 1 - close, 254 - release
+            speed (int): 1 ~ 100
+            _type_1 (int): default 1
+                1 : Adaptive gripper. default to adaptive gripper
+                2 : 5 finger dexterous hand
+                3 : Parallel gripper, this parameter can be omitted
+                4 : Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, speed=speed, _type_1=_type_1, is_torque=is_torque)
+        args = [flag, speed]
+        if _type_1 is not None:
+            args.append(_type_1)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_STATE, *args)
+
+    def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=None):
+        """Set gripper value
+
+        Args:
+            gripper_value (int): 0 ~ 100
+            speed (int): 1 ~ 100
+            gripper_type (int): default 1
+                1: Adaptive gripper
+                3: Parallel gripper, this parameter can be omitted
+                4: Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, speed=speed,
+                                    gripper_type=gripper_type, is_torque=is_torque)
+        args = [gripper_value, speed]
+        if gripper_type is not None:
+            args.append(gripper_type)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, *args, has_reply=True)
+
     # Other
     def wait(self, t):
         time.sleep(t)

pymycobot/mycobot280socket.py

@@ -741,6 +741,61 @@ def set_vision_mode(self, flag):
         self.calibration_parameters(class_name=self.__class__.__name__, flag=flag)
         return self._mesg(ProtocolCode.SET_VISION_MODE, flag)
 
+    def is_torque_gripper(self):
+        """Whether it is a force-controlled gripper
+
+        Return:
+            1 - Force control
+            0 - Non-force control
+        """
+        return self.get_servo_data(7, 1)
+
+    def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
+        """Set gripper switch state
+
+        Args:
+            flag  (int): 0 - open, 1 - close, 254 - release
+            speed (int): 1 ~ 100
+            _type_1 (int): default 1
+                1 : Adaptive gripper. default to adaptive gripper
+                2 : 5 finger dexterous hand
+                3 : Parallel gripper, this parameter can be omitted
+                4 : Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, speed=speed, _type_1=_type_1, is_torque=is_torque)
+        args = [flag, speed]
+        if _type_1 is not None:
+            args.append(_type_1)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_STATE, *args)
+
+    def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=None):
+        """Set gripper value
+
+        Args:
+            gripper_value (int): 0 ~ 100
+            speed (int): 1 ~ 100
+            gripper_type (int): default 1
+                1: Adaptive gripper
+                3: Parallel gripper, this parameter can be omitted
+                4: Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, speed=speed,
+                                    gripper_type=gripper_type, is_torque=is_torque)
+        args = [gripper_value, speed]
+        if gripper_type is not None:
+            args.append(gripper_type)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, *args, has_reply=True)
+
     # Other
     def wait(self, t):
         time.sleep(t)