[feat] add get_gripper_g2_position/get_bio_gripper_g2_position

Author: vimior

README.md

@@ -1,5 +1,7 @@
 # xArm-Python-SDK
 
+[![PyPI Downloads](https://static.pepy.tech/badge/xarm-python-sdk)](https://pepy.tech/projects/xarm-python-sdk)
+
 ## Overview
 xArm Python SDK
 
@@ -21,7 +23,7 @@ xArm Python SDK
       ```bash
       pip install build
       python -m build
-      pip install dist/xarm_python_sdk-1.15.1-py3-none-any.whl
+      pip install dist/xarm_python_sdk-1.16.0-py3-none-any.whl
       ```
     - install with source code
       ```bash

README.rst

@@ -4,6 +4,9 @@ xarm-python-sdk
 .. image:: https://badge.fury.io/py/xarm-python-sdk.svg
     :target: https://pypi.org/project/xarm-python-sdk/
 
+.. image:: https://static.pepy.tech/badge/xarm-python-sdk
+    :target: https://pepy.tech/projects/xarm-python-sdk
+
 .. image:: https://img.shields.io/github/license/xArm-Developer/xArm-Python-SDK.svg
     :target: https://github.com/xArm-Developer/xArm-Python-SDK/blob/main/LICENSE
 

doc/api/xarm_api.md

@@ -414,6 +414,14 @@ xArm-Python-SDK API Documentation (V1.16.0): class XArmAPI in module xarm.wrappe
 >     error_code: See the [Bio Gripper Error Code Documentation](./xarm_api_code.md#bio-gripper-error-code) for details.
 
 
+#### def __get_bio_gripper_g2_position__(self, **kwargs):
+
+> Get the position (mm) of the BIO Gripper G2  
+>   
+> :return: tuple((code, pos)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
 #### def __get_bio_gripper_status__(self):
 
 > Get the status of the bio gripper  
@@ -760,9 +768,17 @@ xArm-Python-SDK API Documentation (V1.16.0): class XArmAPI in module xarm.wrappe
 >     err_code: See the [Gripper Error Code Documentation](./xarm_api_code.md#gripper-error-code) for details.
 
 
+#### def __get_gripper_g2_position__(self, **kwargs):
+
+> Get the position (mm) of the xArm Gripper G2  
+>   
+> :return: tuple((code, pos)), only when code is 0, the returned result is correct.  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
 #### def __get_gripper_position__(self, **kwargs):
 
-> Get the gripper position  
+> Get the gripper position (pulse)  
 >   
 > :return: tuple((code, pos)), only when code is 0, the returned result is correct.  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
@@ -1294,7 +1310,7 @@ xArm-Python-SDK API Documentation (V1.16.0): class XArmAPI in module xarm.wrappe
 > :param min_res_len: the minimum length of modbus response data. Used to check the data length, if not specified, no check  
 > :param host_id: host_id, default is 9 (TGPIO_HOST_ID)  
 >     9: END RS485  
->     10: CONTROLLER RS485  
+>     11: CONTROLLER RS485  
 > :param is_transparent_transmission: whether to choose transparent transmission, default is False  
 >     Note: only available if firmware_version >= 1.11.0  
 > :param use_503_port: whether to use port 503 for communication, default is False  
@@ -2299,11 +2315,17 @@ xArm-Python-SDK API Documentation (V1.16.0): class XArmAPI in module xarm.wrappe
 >         self.set_collision_tool_model(21, radius=45, height=137)  
 >         :param radius: the radius of cylinder, (unit: mm)  
 >         :param height: the height of cylinder, (unit: mm)  
+>         :param x_offset: offset in the x direction, (unit: mm)  
+>         :param y_offset: offset in the y direction, (unit: mm)  
+>         :param z_offset: offset in the z direction, (unit: mm)  
 >     22: Cuboid, need additional parameters x, y, z  
 >         self.set_collision_tool_model(22, x=234, y=323, z=23)  
 >         :param x: the length of the cuboid in the x coordinate direction, (unit: mm)  
 >         :param y: the length of the cuboid in the y coordinate direction, (unit: mm)  
 >         :param z: the length of the cuboid in the z coordinate direction, (unit: mm)  
+>         :param x_offset: offset in the x direction, (unit: mm)  
+>         :param y_offset: offset in the y direction, (unit: mm)  
+>         :param z_offset: offset in the z direction, (unit: mm)  
 > :param args: additional parameters  
 > :param kwargs: additional parameters  
 > :return: code  
@@ -2503,7 +2525,7 @@ xArm-Python-SDK API Documentation (V1.16.0): class XArmAPI in module xarm.wrappe
 
 #### def __set_gripper_g2_position__(self, pos, speed=100, force=50, wait=False, timeout=None, **kwargs):
 
-> Set the position of xArm Gripper G2  
+> Set the position of the xArm Gripper G2  
 >   
 > :param pos: gripper pos between 0 and 84, (unit: mm)  
 > :param speed: gripper speed between 15 and 225, default is 100, (unit: mm/s)  
@@ -2530,7 +2552,7 @@ xArm-Python-SDK API Documentation (V1.16.0): class XArmAPI in module xarm.wrappe
 >   
 > :param pos: pos  
 > :param wait: wait or not, default is False  
-> :param speed: speed,unit:r/min  
+> :param speed: speed, unit:r/min  
 > :param auto_enable: auto enable or not, default is False  
 > :param timeout: wait time, unit:second, default is 10s  
 > :return: code  

xarm/wrapper/xarm_api.py

@@ -104,6 +104,7 @@ def __init__(self, port=None, is_radian=False, do_not_open=False, **kwargs):
             'get_ft_senfor_config': self.get_ft_sensor_config,
             'shutdown_system': self.system_control,
             'set_bio_gripper_position': self.set_bio_gripper_g2_position,
+            'get_bio_gripper_position': self.get_bio_gripper_g2_position,
         }
 
     def __getattr__(self, item):
@@ -1821,20 +1822,29 @@ def set_gripper_mode(self, mode, **kwargs):
 
     def get_gripper_position(self, **kwargs):
         """
-        Get the gripper position
+        Get the gripper position (pulse)
 
         :return: tuple((code, pos)), only when code is 0, the returned result is correct.
             code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
         """
         return self._arm.get_gripper_position(**kwargs)
 
+    def get_gripper_g2_position(self, **kwargs):
+        """
+        Get the position (mm) of the xArm Gripper G2
+
+        :return: tuple((code, pos)), only when code is 0, the returned result is correct.
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+        """
+        return self._arm.get_gripper_g2_position(**kwargs)
+
     def set_gripper_position(self, pos, wait=False, speed=None, auto_enable=False, timeout=None, **kwargs):
         """
         Set the gripper position
 
         :param pos: pos
         :param wait: wait or not, default is False
-        :param speed: speed,unit:r/min
+        :param speed: speed, unit:r/min
         :param auto_enable: auto enable or not, default is False
         :param timeout: wait time, unit:second, default is 10s
         :return: code
@@ -1844,7 +1854,7 @@ def set_gripper_position(self, pos, wait=False, speed=None, auto_enable=False, t
 
     def set_gripper_g2_position(self, pos, speed=100, force=50, wait=False, timeout=None, **kwargs):
         """
-        Set the position of xArm Gripper G2
+        Set the position of the xArm Gripper G2
 
         :param pos: gripper pos between 0 and 84, (unit: mm)
         :param speed: gripper speed between 15 and 225, default is 100, (unit: mm/s)
@@ -2859,6 +2869,15 @@ def set_bio_gripper_force(self, force):
 
         return self._arm.set_bio_gripper_force(force)
 
+    def get_bio_gripper_g2_position(self, **kwargs):
+        """
+        Get the position (mm) of the BIO Gripper G2
+
+        :return: tuple((code, pos)), only when code is 0, the returned result is correct.
+            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+        """
+        return self._arm.get_bio_gripper_g2_position(**kwargs)
+
     def set_bio_gripper_g2_position(self, pos, speed=2000, force=100, wait=True, timeout=5, **kwargs):
         """
         Set the position of BIO Gripper G2
@@ -2990,7 +3009,7 @@ def getset_tgpio_modbus_data(self, datas, min_res_len=0, host_id=9, is_transpare
         :param min_res_len: the minimum length of modbus response data. Used to check the data length, if not specified, no check
         :param host_id: host_id, default is 9 (TGPIO_HOST_ID)
             9: END RS485
-            10: CONTROLLER RS485
+            11: CONTROLLER RS485
         :param is_transparent_transmission: whether to choose transparent transmission, default is False
             Note: only available if firmware_version >= 1.11.0
         :param use_503_port: whether to use port 503 for communication, default is False
@@ -3054,11 +3073,17 @@ def set_collision_tool_model(self, tool_type, *args, **kwargs):
                 self.set_collision_tool_model(21, radius=45, height=137)
                 :param radius: the radius of cylinder, (unit: mm)
                 :param height: the height of cylinder, (unit: mm)
+                :param x_offset: offset in the x direction, (unit: mm)
+                :param y_offset: offset in the y direction, (unit: mm)
+                :param z_offset: offset in the z direction, (unit: mm)
             22: Cuboid, need additional parameters x, y, z
                 self.set_collision_tool_model(22, x=234, y=323, z=23)
                 :param x: the length of the cuboid in the x coordinate direction, (unit: mm)
                 :param y: the length of the cuboid in the y coordinate direction, (unit: mm)
                 :param z: the length of the cuboid in the z coordinate direction, (unit: mm)
+                :param x_offset: offset in the x direction, (unit: mm)
+                :param y_offset: offset in the y direction, (unit: mm)
+                :param z_offset: offset in the z direction, (unit: mm)
         :param args: additional parameters
         :param kwargs: additional parameters
         :return: code

xarm/x3/base.py

@@ -206,6 +206,7 @@ def __init__(self, port=None, is_radian=False, do_not_open=False, **kwargs):
 
             self.bio_gripper_is_enabled = False
             self.bio_gripper_speed = 0
+            self.bio_gripper_force = 0
             self.bio_gripper_error_code = 0
 
             self.robotiq_is_activated = False
@@ -334,6 +335,7 @@ def _init(self):
 
         self.bio_gripper_is_enabled = False
         self.bio_gripper_speed = 0
+        self.bio_gripper_force = 0
         self.bio_gripper_error_code = 0
 
         self.robotiq_is_activated = False
@@ -1343,6 +1345,7 @@ def __handle_report_normal_old(rx_data):
                 self.gripper_is_enabled = False
                 self.bio_gripper_is_enabled = False
                 self.bio_gripper_speed = 0
+                self.bio_gripper_force = 0
                 self.gripper_is_enabled = False
                 self.gripper_speed = 0
                 self.gripper_version_numbers = [-1, -1, -1]
@@ -1357,6 +1360,7 @@ def __handle_report_normal_old(rx_data):
             #     self.gripper_is_enabled = False
             #     self.bio_gripper_is_enabled = False
             #     self.bio_gripper_speed = 0
+            #     self.bio_gripper_force = 0
             #     self.gripper_is_enabled = False
             #     self.gripper_speed = 0
             #     self.gripper_version_numbers = [-1, -1, -1]
@@ -1547,6 +1551,7 @@ def __handle_report_normal(rx_data):
                 self.gripper_is_enabled = False
                 self.bio_gripper_is_enabled = False
                 self.bio_gripper_speed = 0
+                self.bio_gripper_force = 0
                 self.gripper_is_enabled = False
                 self.gripper_speed = 0
                 self.gripper_version_numbers = [-1, -1, -1]
@@ -1561,6 +1566,7 @@ def __handle_report_normal(rx_data):
             #     self.gripper_is_enabled = False
             #     self.bio_gripper_is_enabled = False
             #     self.bio_gripper_speed = -1
+            #     self.bio_gripper_force = -1
             #     self.gripper_speed = -1
             #     self.gripper_version_numbers = [-1, -1, -1]
             #     self.linear_track_is_enabled = False