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a/LinkerHand/utils/mapping.py +++ b/LinkerHand/utils/mapping.py @@ -1,11 +1,11 @@ #--------------------------------------------------------------------------------------------------- # L6 L -l6_l_min = [0, 0, 0, 0, 0, 0] -l6_l_max = [0.99, 1.39, 1.26, 1.26, 1.26, 1.26] +l6_l_min = [0, -0.087266, 0, 0, 0, 0] +l6_l_max = [0.837758, 1.256637, 1.134464, 1.134464, 1.134464, 1.134464] l6_l_derict = [-1, -1, -1, -1, -1, -1] # L6 R -l6_r_min = [0, 0, 0, 0, 0, 0] -l6_r_max = [0.99, 1.39, 1.26, 1.26, 1.26, 1.26] +l6_r_min = [0, -0.087266, 0, 0, 0, 0] +l6_r_max = [0.837758, 1.256637, 1.134464, 1.134464, 1.134464, 1.134464] l6_r_derict = [-1, -1, -1, -1, -1, -1] #--------------------------------------------------------------------------------------------------- # O6 L diff --git a/README.md b/README.md index 3ab0823..f40c985 100644 --- a/README.md +++ b/README.md @@ -20,7 +20,7 @@ LinkerHand Python SDK ## Installation -  You can run the examples after installing the dependencies in requirements.txt. Only Python 3 is supported. +  You can run the examples after installing the SDK and dependencies from `pyproject.toml`. Only Python 3 is supported. - download ```bash @@ -31,7 +31,7 @@ $ git clone https://github.com/linker-bot/linkerhand-python-sdk.git ```bash $ cd linkerhand-python-sdk/ -$ pip3 install -r requirements.txt +$ pip install -e ".[all]" ``` - 快速使用示例 by CAN @@ -50,11 +50,8 @@ $ python3 gui_control.py Edit the config/setting.yaml configuration file and modify the parameters according to the comments inside. Set MODBUS: "/dev/ttyUSB0", meaning the "modbus" parameter in the configuration file should be "/dev/ttyUSB0". The USB-RS485 converter usually appears as /dev/ttyUSB* or /dev/ttyACM* on Ubuntu. modbus: "None" or "/dev/ttyUSB0" ```bash -# Ensure requirements.txt dependencies are installed -# Install system-level related drivers -$ pip install minimalmodbus --break-system-packages -$ pip install pyserial --break-system-packages -$ pip install pymodbus --break-system-packages +# Ensure the SDK and dependencies are installed from pyproject.toml +$ pip install -e ".[all]" # View the USB-RS485 port number $ ls /dev # You should see a port similar to ttyUSB0. Grant permissions to the port: @@ -154,5 +151,3 @@ When launched, a UI interface will pop up. You can control the corresponding Lin ## API Documentation [Linker Hand API for Python Document](doc/API-Reference.md) - - diff --git a/README_CN.md b/README_CN.md index 8921a07..b5d5f05 100644 --- a/README_CN.md +++ b/README_CN.md @@ -18,23 +18,20 @@ | ROS SDK | ![SDK Version](https://img.shields.io/badge/SDK%20Version-V3.0.1-brightgreen?style=flat-square) ![Python 3.8+](https://img.shields.io/badge/Python-3.8%2B-blue?style=flat-square&logo=python&logoColor=white) ![Ubuntu 20.04+](https://img.shields.io/badge/OS-Ubuntu%2020.04%2B-E95420?style=flat-square&logo=ubuntu&logoColor=white) ![ROS Noetic](https://img.shields.io/badge/ROS-Noetic-009624?style=flat-square&logo=ros) | [![GitHub 仓库](https://img.shields.io/badge/GitHub-grey?logo=github&style=flat-square)](https://github.com/linker-bot/linkerhand-ros-sdk) | | ROS2 SDK | ![SDK Version](https://img.shields.io/badge/SDK%20Version-V3.0.1-brightgreen?style=flat-square) ![Python 3.11](https://img.shields.io/badge/Python-3.11-3776AB?style=flat-square&logo=python&logoColor=white) ![Ubuntu 24.04](https://img.shields.io/badge/OS-Ubuntu%2024.04-E95420?style=flat-square&logo=ubuntu&logoColor=white) ![ROS 2 Jazzy](https://img.shields.io/badge/ROS%202-Jazzy-00B3E6?style=flat-square&logo=ros) ![Windows 11](https://img.shields.io/badge/OS-Windows%2011-0078D4?style=flat-square&logo=windows&logoColor=white) | [![GitHub 仓库](https://img.shields.io/badge/GitHub-grey?logo=github&style=flat-square)](https://github.com/linker-bot/linkerhand-ros2-sdk) | -## Installation -  您可以在安装requirements.txt后的情况下运行示例。仅支持 Python3。 +## Installation +  您可以通过 `pyproject.toml` 安装 SDK 及其依赖后运行示例。仅支持 Python3。 - download ```bash -$ git clone https://github.com/linker-bot/linkerhand-python-sdk.git -``` - -- install - -```bash -$ cd linkerhand-python-sdk/ -# win下需要安装python-can-candle用于适配透明CAN设备candle协议 -$ pip install python-can -$ pip install python-can-candle -$ pip3 install -r requirements.txt -``` +$ git clone https://github.com/linker-bot/linkerhand-python-sdk.git +``` + +- install + +```bash +$ cd linkerhand-python-sdk/ +$ pip install -e ".[all]" +``` - 快速使用示例 by CAN 编辑config/setting.yaml配置文件，按照配置文件内注释说明进行参数修改,配置CAN: "can0"(根据实际硬件情况来确定，一般第一个为can0)，配置MODBUS:"None" @@ -53,12 +50,9 @@ $ python3 gui_control.py 编辑config/setting.yaml配置文件，按照配置文件内注释说明进行参数修改,将MODBUS:"/dev/ttyUSB0"，配置文件中"modbus"参数为"/dev/ttyUSB0"。USB-RS485转换器在Ubuntu上一般显示为/dev/ttyUSB* or /dev/ttyACM* modbus: "None" or "/dev/ttyUSB0" -```bash -# 确保requirements.txt安装依赖 -# 安装系统级相关驱动 -$ pip install minimalmodbus --break-system-packages -$ pip install pyserial --break-system-packages -$ pip install pymodbus --break-system-packages +```bash +# 确保已通过 pyproject.toml 安装 SDK 及依赖 +$ pip install -e ".[all]" # 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