diff --git a/0.1.3/dev/changelog/index.html b/0.1.3/dev/changelog/index.html index 6322ae5..d9c1997 100644 --- a/0.1.3/dev/changelog/index.html +++ b/0.1.3/dev/changelog/index.html @@ -520,13 +520,13 @@
This software is highly unstable and subject to change at any time.
__init__.py
fourier-grx
v0.1.1-rc.6
This is the client library for the Fourier GRX robot. The correponding server library can be found here.
Note
This software is highly unstable and subject to change at any time. Version 0.1.3 is only compatible with fourier-grx version v0.1.1-rc.6.
On the robot, install fourier-grx==0.1.0rc6 following the instructions here.
fourier-grx==0.1.0rc6
Run:
pip install fourier-grx-client==0.1.3\n
First make sure you know the IP address of the robot server and the namespace it is running on. Then you can create a client object like this:
from fourier_grx_client import *\nr = RobotClient(namespace=\"gr/my_awesome_robot\", server_ip=\"192.168.6.6\")\n
Attention
RobotClient
v0.1.1-rc.3
move_joints
fourier_grx_client.client.RobotClient
Bases: ZenohSession
ZenohSession
Client class for GR series robots. Example:
>>> from fourier_grx_client import *\n>>> r = RobotClient(namespace=\"gr/my_awesome_robot\", server_ip=\"192.168.6.6\")\n
is_moving
property
Whether the robot is currently moving.
joint_positions
Get the current joint positions of the robot.
joint_velocities
Get the current joint velocities of the robot.
__init__(freq=400, namespace='gr', server_ip='localhost', verbose=False)
The client class for GR series robots.
Parameters:
server_ip
str
IP address of the grx server. Please make sure to properly setup the firewall to allow port 7447. Defaults to \"localhost\".
'localhost'
freq
int
Robot state update frequency. Usually the user doesn't need to modify this. Defaults to 400.
400
namespace
Robot namespace. Defaults to \"gr\".
'gr'
verbose
bool
Whether to print debug messages. Defaults to False.
False
Raises:
FourierConnectionError
If the connection to the server failed.
disable()
Disable the motors.
enable()
Enable the motors.
get_group_position(group)
Get the joint positions of a group.
get_group_position_by_name(name)
Get the joint positions of a group by its name.
name
The name of the group. Available group names: 'left_leg', 'right_leg', 'waist', 'head', 'left_arm', 'right_arm'.
get_transform(target_frame, source_frame, q=None)
Get the transformation matrix between two frames in configuration q. If q is None, the current joint positions are used.
q
target_frame
Name of the frame to get the pose of.
source_frame
Name of the frame to get the pose in.
ndarray
The robot confiuration to do forward kinematics in. Defaults to None.
None
Returns:
np.ndarray: The transformation matrix.
list_frames()
List all available frames.
liveness_check()
Check if the robot server is alive.
move_joints(group, positions, duration=0.0, blocking=False)
Move in joint space with time duration.
Move in joint space with time duration in a separate thread. Can be aborted using abort(). Can be blocking. If the duration is set to 0, the joints will move in their maximum speed without interpolation.
abort()
group
ControlGroup | list | str
The group of joints to move, or a list of joint indices.
positions
ndarray[float]
target joint position in degrees.
duration
float
Time duration in seconds. If set to 0, the joints will move in their maximum speed without interpolation. Defaults to 0.0.
0.0
blocking
If True, block until the move is completed. Defaults to False.
play_traj(traj, timestamps=None)
Play a trajectory in joint space.
reboot()
Reboot the motors.
set_enable(enable)
Enable or disable the motors.
set_gains(kp, kd, control_mode=None)
Set the gains for the joints.
kp
The proportional gains.
kd
The derivative gains.
control_mode
The control mode for each joint. Defaults to None.
set_home()
Get sensor offsets and save to sensor_offset.json
sensor_offset.json
grx
The grx CLI is installed with the fourier-grx package, which is only comaptible with python==3.11. It is intended to be running onboard the robot. Make sure to install the package before using the CLI.
python==3.11
Usage:
$ grx [OPTIONS] COMMAND [ARGS]...\n
Options:
--install-completion
--show-completion
--help
Commands:
calibrate
disable
enable
generate-sensor-offset
run
states
grx calibrate
Calibrate the robot sensors and save the offsets to a file
$ grx calibrate [OPTIONS] [OUTPUT_PATH]\n
Arguments:
[OUTPUT_PATH]
grx run
Run the robot server.
$ grx run [OPTIONS] CONFIG\n
CONFIG
--urdf-path TEXT
--freq INTEGER
--verbose / --no-verbose
--visualize / --no-visualize
grx states
Print the current robot states.
$ grx states [OPTIONS]\n
grx disable
Disable all the motors.
$ grx disable [OPTIONS]\n
grx enable
Enable all the motors.
$ grx enable [OPTIONS]\n
grx generate-sensor-offset
Generate sensor offset file from the control SDK installed on the host machine, usually located at ~/RoCS/bin/pythonscripts/absAngle.json
$ grx generate-sensor-offset [OPTIONS]\n