Merge branch 'develop' into 106-improve-code-documentation

.github/workflows/lint.yml

@@ -5,16 +5,32 @@ on: [push]
 jobs:
 
   black:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
       - uses: psf/black@stable
         with:
-          options: "--check --verbose --line-length 128"
+          options: "--check --verbose"
           version: "23.3.0"
 
+  isort:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.10"
+          cache: 'pip' # caching pip dependencies
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install .[dev]
+      - name : Check import order
+        run : isort . -c
+
   flake8:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
       - name: Set up Python 3.10
@@ -31,10 +47,10 @@ jobs:
           # stop the build if there are Python syntax errors or undefined names
           flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
           # option --exit-zero can be added to this line to set these errors as warnings
-          flake8 . --count --max-complexity=10 --max-line-length=128 --statistics
+          flake8 . --count --statistics --config setup.cfg
 
   mypy:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
       - name: Set up Python 3.10

README.md

@@ -1 +1,10 @@
-# Python SDK for Reachy v2
+# Python SDK for Reachy v2
+
+## Install
+
+```console
+$ pip install -e .[pollen,dev]
+```
+
+*[dev]* contains the tools for developers.
+*[pollen]* has the custom pollen robotics repos. It is mandatory but not in the default install because github actions cannot fetch private repo directly.

pyproject.toml

@@ -1,3 +1,9 @@
 [build-system]
 requires = ["setuptools"]
-build-backend = "setuptools.build_meta"
+build-backend = "setuptools.build_meta"
+
+[tool.isort]
+profile = "black"
+
+[tool.black]
+line-length = 128

scripts/git_hooks/pre-commit

@@ -9,14 +9,17 @@
 set -eo pipefail
 
 # Run black against all code in the `source_code` directory
-black . --line-length 128 --check
+black . --check
 echo "-------> Black passed!"
 
+# Run isort against all code in the `source_code` directory
+isort . -c
+echo "-------> Isort passed!"
+
 # Run flake8 against all code in the `source_code` directory
 flake8 .
 echo "-------> Flake8 passed!"
 
 # Run mypy against all code in the `source_code` directory
 mypy .
 echo "-------> Mypy passed!"
-

setup.cfg

@@ -1,37 +1,35 @@
 [metadata]
 name = reachy-v2-sdk
-version = 0.1.0
+version = 2.0
 author = Pollen Robotics
 author_email = [email protected]
-url = https://github.com/pollen-robotics/python-template
-description = Python template project
+url = https://github.com/pollen-robotics/reachy-v2-sdk
+description = Reachy SDK V2
 long_description = file: README.md
 long_description_content_type = text/markdown
 
-
 [options]
-packages = find:
+packages = reachy_v2_sdk
 zip_safe = True
 include_package_data = True
 package_dir=
     =src
 install_requires =
-    numpy
+    numpy==1.26.1
+    protobuf==4.25.0
+    grpcio==1.59.2
+    pyquaternion==0.9.9
 
-[options.packages.find]
-where=reachy_sdk
 
 [options.extras_require]
-dev = black==23.3.0
-      flake8==6.0.0
-      pytest==7.3.1
-      coverage==7.2.5
-      mypy==1.0.0
+dev = black==23.10.1
+      flake8==6.1.0
+      pytest==7.4.3
+      coverage==7.3.2
+      mypy==1.6.1
+      isort==5.12.0
       types-protobuf==4.24.0.1
-
-[options.entry_points]
-console_scripts = 
-    example_entry_point = example.celcius:main
+pollen = reachy-sdk-api-v2@git+ssh://[email protected]/pollen-robotics/reachy-sdk-api-v2.git#subdirectory=python
 
 [flake8]
 exclude = tests

src/reachy_v2_sdk/arm.py

@@ -136,7 +136,10 @@ def forward_kinematics(
         return np.array(resp.end_effector.pose.data).reshape((4, 4))
 
     def inverse_kinematics(
-        self, target: npt.NDArray[np.float64], q0: Optional[List[float]] = None, degrees: bool = True
+        self,
+        target: npt.NDArray[np.float64],
+        q0: Optional[List[float]] = None,
+        degrees: bool = True,
     ) -> List[float]:
         """Compute the inverse kinematics of the arm.
 
@@ -182,8 +185,14 @@ def _list_to_arm_position(self, positions: List[float], degrees: bool = True) ->
         if degrees:
             positions = self._convert_to_radians(positions)
         arm_pos = ArmPosition(
-            shoulder_position=Pose2D(axis_1=FloatValue(value=positions[0]), axis_2=FloatValue(value=positions[1])),
-            elbow_position=Pose2D(axis_1=FloatValue(value=positions[2]), axis_2=FloatValue(value=positions[3])),
+            shoulder_position=Pose2D(
+                axis_1=FloatValue(value=positions[0]),
+                axis_2=FloatValue(value=positions[1]),
+            ),
+            elbow_position=Pose2D(
+                axis_1=FloatValue(value=positions[2]),
+                axis_2=FloatValue(value=positions[3]),
+            ),
             wrist_position=Rotation3D(
                 rpy=ExtEulerAngles(
                     roll=positions[4],
@@ -277,7 +286,9 @@ def goto(
             )
         if orientation_tol is not None:
             target.orientation_tolerance = ExtEulerAnglesTolerances(
-                x_tol=orientation_tol[0], y_tol=orientation_tol[1], z_tol=orientation_tol[2]
+                x_tol=orientation_tol[0],
+                y_tol=orientation_tol[1],
+                z_tol=orientation_tol[2],
             )
         self._arm_stub.GoToCartesianPosition(target)
 

src/reachy_v2_sdk/audio.py

@@ -0,0 +1,70 @@
+"""Reachy Audio module.
+
+Handles all specific method related to audio especially:
+- playing sounds
+- recording sounds
+"""
+from typing import List
+
+import grpc
+from google.protobuf.empty_pb2 import Empty
+from reachy_sdk_api_v2.sound_pb2 import (
+    RecordingRequest,
+    SoundId,
+    SoundRequest,
+    VolumeRequest,
+)
+from reachy_sdk_api_v2.sound_pb2_grpc import SoundServiceStub
+
+
+class Audio:
+    """Audio class used for microphone and speakers.
+
+    It exposes functions to:
+    - play / stop sounds with defined speakers,
+    - test the speakers,
+    - record tracks with a defined microphone,
+    """
+
+    def __init__(self, host: str, port: int) -> None:
+        """Set up audio module, along with microphone and speakers."""
+        self._grpc_audio_channel = grpc.insecure_channel(f"{host}:{port}")
+
+        self._audio_stub = SoundServiceStub(self._grpc_audio_channel)
+        self._setup_microphones()
+        self._setup_speakers()
+
+    def _setup_microphones(self) -> None:
+        micro_info = self._audio_stub.GetAllMicrophone(Empty())
+        self._microphone_id = micro_info.microphone_info[0].id
+
+    def _setup_speakers(self) -> None:
+        speaker_info = self._audio_stub.GetAllSpeaker(Empty())
+        self._speaker_id = speaker_info.speaker_info[0].id
+
+    def testing(self) -> None:
+        self._audio_stub.TestSpeaker(self._speaker_id)
+
+    def get_sounds_list(self) -> List[str]:
+        sounds = self._audio_stub.GetSoundsList(Empty())
+        return [soundId.id for soundId in sounds.sounds]
+
+    def play(self, sound_name: str, volume: float = 0.5) -> None:
+        available_sounds = self.get_sounds_list()
+        if sound_name not in available_sounds:
+            raise ValueError(f"Sound to play not available! Sounds available are {available_sounds}")
+        if not 0 <= volume <= 1:
+            raise ValueError(f"Volume should be between 0 and 1, got {volume}")
+        self._audio_stub.PlaySound(SoundRequest(speaker=self._speaker_id, sound=SoundId(id=sound_name, volume=volume)))
+
+    def stop(self) -> None:
+        self._audio_stub.StopSound(ComponentId=self._speaker_id)
+
+    def start_recording(self, sound_name: str) -> None:
+        self._audio_stub.StartRecording(RecordingRequest(micro=self._microphone_id, recording_id=SoundId(id=sound_name)))
+
+    def stop_recording(self) -> None:
+        self._audio_stub.StopRecording(self._microphone_id)
+
+    def set_audio_volume(self, volume: int) -> None:
+        self._audio_stub.ChangeVolume(VolumeRequest(id=self._speaker_id, volume=volume))

src/reachy_v2_sdk/dynamixel_motor.py

@@ -36,7 +36,13 @@ class DynamixelMotor:
     speed_limit = Register(readonly=False, type=FloatValue, label="speed_limit")
     torque_limit = Register(readonly=False, type=FloatValue, label="torque_limit")
 
-    def __init__(self, uid: int, name: str, initial_state: DynamixelMotorState, grpc_channel: Channel):
+    def __init__(
+        self,
+        uid: int,
+        name: str,
+        initial_state: DynamixelMotorState,
+        grpc_channel: Channel,
+    ):
         self.id = uid
         self.name = name
         self._stub = DynamixelMotorServiceStub(grpc_channel)

src/reachy_v2_sdk/head.py

@@ -110,7 +110,9 @@ def forward_kinematics(self, rpy_position: Optional[Tuple[float, float, float]]
             return pyQuat(w=quat.w, x=quat.x, y=quat.y, z=quat.z)
 
     def inverse_kinematics(
-        self, orientation: Optional[pyQuat] = None, rpy_q0: Optional[Tuple[float, float, float]] = None
+        self,
+        orientation: Optional[pyQuat] = None,
+        rpy_q0: Optional[Tuple[float, float, float]] = None,
     ) -> Tuple[float, float, float]:
         """Compute the inverse kinematics of the arm.
 
@@ -137,7 +139,11 @@ def inverse_kinematics(
             req_params["q0"] = Rotation3D(rpy=ExtEulerAngles(roll=rpy_q0[0], pitch=rpy_q0[1], yaw=rpy_q0[2]))
         req = NeckIKRequest(**req_params)
         rpy_pos = self._head_stub.ComputeNeckIK(req)
-        return (rpy_pos.position.rpy.roll, rpy_pos.position.rpy.pitch, rpy_pos.position.rpy.yaw)
+        return (
+            rpy_pos.position.rpy.roll,
+            rpy_pos.position.rpy.pitch,
+            rpy_pos.position.rpy.yaw,
+        )
 
     def look_at(self, x: float, y: float, z: float, duration: float) -> None:
         """Compute and send neck rpy position to look at the (x, y, z) point in Reachy cartesian space (torso frame).

src/reachy_v2_sdk/orbita2d.py

@@ -92,7 +92,10 @@ def __init__(  # noqa: C901
             axis2_name,
             OrbitaJoint2D(initial_state=init_state["axis_2"], axis_type=axis2_name, actuator=self),
         )
-        self._joints = {"axis_1": getattr(self, axis1_name), "axis_2": getattr(self, axis2_name)}
+        self._joints = {
+            "axis_1": getattr(self, axis1_name),
+            "axis_2": getattr(self, axis2_name),
+        }
 
         self.__motor_1 = OrbitaMotor(initial_state=init_state["motor_1"], actuator=self)
         self.__motor_2 = OrbitaMotor(initial_state=init_state["motor_2"], actuator=self)