motorbridge 0.4.1

Python SDK for motorbridge Rust ABI

motorbridge Python SDK

Channel Compatibility (PCAN + CANable candleLight/gs_usb + CAN-FD + Damiao Serial Bridge)

• Linux SocketCAN uses prepared interfaces directly: can0, can1. For CANable, use candleLight/gs_usb firmware so it appears as a SocketCAN interface such as can0.
• Use PCAN or CANable candleLight/gs_usb for standard CAN.
• CAN-FD transport is available both in CLI (--transport socketcanfd) and Python SDK (Controller.from_socketcanfd(...)), and is required for Hexfellow.
• Damiao-only serial bridge transport is also available in CLI (--transport dm-serial --serial-port /dev/ttyACM0 --serial-baud 921600).
• Full Damiao serial-bridge interface list and command patterns are documented in motor_cli/README.md (section 3.6 in motor_cli/README.zh-CN.md).
• On Linux SocketCAN, do not append bitrate in --channel (for example can0@1000000 is invalid).
• On Windows (PCAN backend), can0/can1 map to PCAN_USBBUS1/2; optional @bitrate suffix is supported.

Python binding layer on top of motor_abi.

Chinese version: README.zh-CN.md

README Navigation (What Each One Is For)

If this is your first time in this folder, read in this order:

1. This file: README.md
   Purpose: Python binding overview (install, API scope, common commands).
2. examples/README.md (English) / examples/READMEzh_cn.md (Chinese)
   Purpose: practical demo index and run instructions (from simplest to advanced). 2.5. ../motorbridge-docs Purpose: canonical Mintlify documentation site (tutorial + API style docs).
3. get_started/README.md / get_started/README.zh-CN.md
   Purpose: pip-first onboarding path (install -> scan -> run).
4. DAMIAO_PYTHON_REFERENCE.zh-CN.md
   Purpose: Damiao Python interface reference (parameter lookup style).
5. DAMIAO_binding.md
   Purpose: Damiao binding implementation notes (design/internal behavior).
6. README.zh-CN.md
   Purpose: Chinese overview for Chinese-speaking teammates.

Notes:

• If your goal is "run something now", start with Start Here (Simplest 2 Examples) in examples/README.md.
• If your goal is CLI parameter lookup, see ../../motor_cli/README.md.

Scope

Packaging note:

• Current package target version: 0.4.1.

• Published wheel includes motor_abi shared library and ws_gateway binary for that platform.

• ABI metadata helpers:

  • motorbridge.abi_version() returns the loaded ABI library version.
  • motorbridge.abi_capabilities() returns the loaded ABI capability JSON as a Python dict.

• 0.4.1 adds ABI capability/version discovery and aligns C++ RobStride wrapper parity with the Python SDK. Binding parity is tracked in bindings/api_surface.json.

• After pip install motorbridge, gateway binary path is typically: .../site-packages/motorbridge/bin/ws_gateway (or ws_gateway.exe on Windows).

• 0.4.1 includes Damiao dm-serial whole-arm scan/session handling in the bundled gateway and adds damiao_state_many for multi-joint browser telemetry.

• 0.3.9 RobStride request_feedback() semantics and 0.3.8 PP/CSP-specific position-control entrypoints remain available while keeping the public Python binding API backward compatible.

• RobStride parameter writes default to no status-ack wait; set MOTORBRIDGE_ROBSTRIDE_WRITE_ACK_TIMEOUT_MS to restore synchronous waiting.

• The Python CLI is now implemented as a motorbridge.cli package, but motorbridge-cli, python -m motorbridge.cli, python -m motorbridge, from motorbridge.cli import main, and legacy flat run arguments remain supported.

• Gateway launch command (added to PATH by pip):

  • motorbridge-gateway -- --bind 127.0.0.1:9002 ...
  • This launcher executes the packaged Rust ws_gateway binary, so WS JSON ops such as state_stream, damiao_state_many, param_stream, damiao_param_stream, and robstride_param_stream are supported by the bundled gateway version.

• Security note:

  • keep loopback bind (127.0.0.1) for local usage.
  • if you bind to non-loopback addresses (0.0.0.0 or host IP), export MOTORBRIDGE_WS_TOKEN before launch.
  • clients must pass the token in x-motorbridge-token or Authorization: Bearer ....

• macOS runtime note (only if you see dynamic library load errors):

  • Resolve binary path generically: GW="$(python3 -c "import motorbridge, pathlib; print(pathlib.Path(motorbridge.__file__).resolve().parent/'bin'/'ws_gateway')")"
  • Use package-local lib directory (no machine-specific absolute path): PKG_DIR="$(python3 -c "import motorbridge, pathlib; print(pathlib.Path(motorbridge.__file__).resolve().parent)")" DYLD_LIBRARY_PATH="$PKG_DIR/lib:${DYLD_LIBRARY_PATH:-}" "$GW" --bind 127.0.0.1:9002 --vendor damiao --channel can0 --model auto --motor-id 0x01 --feedback-id 0x11 --dt-ms 20

• High-level API: Controller, Motor, Mode

• CLI: motorbridge-cli

• Controller constructors:

  • Controller(channel="can0") (SocketCAN/PCAN path)
  • Controller.from_socketcanfd(channel="can0") (CAN-FD path, required by Hexfellow)
  • Controller.from_dm_serial(serial_port="/dev/ttyACM0", baud=921600) (Damiao-only serial bridge)

• Vendors:

  • Damiao: add_damiao_motor(...)
  • Hexfellow: add_hexfellow_motor(...)
  • MyActuator: add_myactuator_motor(...)
  • RobStride: add_robstride_motor(...)
  • HighTorque: add_hightorque_motor(...)

• Unified state-query pattern:

  • Recommended flow: request_feedback() -> poll_feedback_once() -> get_state().
  • RobStride has no single-shot private-protocol status request; request_feedback() is a non-blocking no-op for RobStride. Use robstride_ping() for connectivity, active report for streaming state, or typed parameter reads for fresh position/velocity values.

Unified Mode Mapping Summary (Top-Level -> Vendor Native)

Unified Mode	Damiao	RobStride	Hexfellow	MyActuator	HighTorque
Mode.MIT	native MIT	native MIT	native MIT (mode 5)	unsupported	maps to native pos+vel+tqe
Mode.POS_VEL	native POS_VEL	maps to native Position (run_mode=1 + limit_spd(0x7017) + loc_ref(0x7016))	native POS_VEL (mode 1)	Position setpoint flow	maps to native pos+vel+tqe
Mode.VEL	native VEL	native Velocity	unsupported	native velocity setpoint flow	native velocity command
Mode.FORCE_POS	native FORCE_POS	unsupported	unsupported	unsupported	maps to native pos+vel+tqe

Note:

• RobStride unified high-level control currently covers MIT / POS_VEL / VEL.
• Torque/current is parameter-level only for RobStride (robstride_write_param_*), not a dedicated unified mode.
• RobStride feedback/host default should use 0xFD; scan tries 0xFD,0xFF,0xFE,0x00,0xAA by default.
• RobStride feedback_id / host_id is not the motor device_id; scan hits report the motor ID as probe / device_id.

Quick Start

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)
    motor.send_mit(0.0, 0.0, 20.0, 1.0, 0.0)
    print(motor.get_state())
    motor.close()

Damiao over serial bridge:

from motorbridge import Controller, Mode

with Controller.from_dm_serial("/dev/ttyACM1", 921600) as ctrl:
    motor = ctrl.add_damiao_motor(0x04, 0x14, "4310")
    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)
    motor.send_mit(0.5, 0.0, 20.0, 1.0, 0.0)
    motor.close()

RobStride quick use:

from motorbridge import Controller

with Controller("can0") as ctrl:
motor = ctrl.add_robstride_motor(127, 0xFD, "rs-00")
    print(motor.robstride_ping())
    print(motor.robstride_get_param_f32(0x7019))
    motor.close()

MyActuator quick use:

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_myactuator_motor(1, 0x241, "X8")
    ctrl.enable_all()
    motor.ensure_mode(Mode.POS_VEL, 1000)
    motor.send_pos_vel(3.1416, 2.0)  # rad / rad/s
    print(motor.get_state())
    motor.close()

Hexfellow quick use (CAN-FD only):

from motorbridge import Controller, Mode

with Controller.from_socketcanfd("can0") as ctrl:
    motor = ctrl.add_hexfellow_motor(1, 0x00, "hexfellow")
    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)      # Hexfellow supports MIT / POS_VEL
    motor.send_mit(0.8, 1.0, 30.0, 1.0, 0.1)
    print(motor.get_state())
    motor.close()

CLI Examples

Damiao:

motorbridge-cli run \
  --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode mit --pos 0 --vel 0 --kp 20 --kd 1 --tau 0 --loop 50 --dt-ms 20

# Rust CLI style ID update is also accepted:
motorbridge-cli run \
  --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --set-motor-id 0x02 --set-feedback-id 0x12 --store 1 --verify-id 1

RobStride:

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 --motor-id 127 \
  --mode ping

RobStride MIT quick check:

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 2 --feedback-id 0xFD \
  --mode mit --ensure-strict 1 \
  --pos 0.5 --vel 0 --kp 20.0 --kd 0.5 --tau 0 \
  --loop 100 --dt-ms 20

RobStride position target, aligned with the WS gateway native register path (limit_spd 0x7017, loc_kp 0x701E, loc_ref 0x7016):

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 2 --feedback-id 0xFD \
  --mode pos-vel \
  --pos 1.5 --vlim 1.0 --loc-kp 5.0 \
  --loop 1 --dt-ms 20

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 2 --feedback-id 0xFD \
  --mode pos-vel \
  --pos -1.5 --vlim 1.0 --loc-kp 5.0 \
  --loop 1 --dt-ms 20

RobStride parameter read:

motorbridge-cli robstride-read-param \
  --channel can0 --model rs-00 --motor-id 127 --param-id 0x7019 --type f32

# Rust CLI style is also accepted by Python CLI:
motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 --motor-id 127 --feedback-id 0xFD \
  --mode read-param --param-id 0x7019 --param-type f32

Damiao parameter read/write:

motorbridge-cli damiao-read-param \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --param-id 21 --type f32

motorbridge-cli damiao-write-param \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --param-id 8 --type u32 --value 0x01 --verify 1

Unified scan (all vendors):

motorbridge-cli scan --vendor all --channel can0 --start-id 0x01 --end-id 0xFF

RobStride-focused scan and ID update:

motorbridge-cli scan \
  --vendor robstride --channel can0 --start-id 1 --end-id 127 \
  --feedback-ids 0xFD,0xFF,0xFE,0x00,0xAA

motorbridge-cli id-set \
  --vendor robstride --channel can0 \
  --motor-id 127 --feedback-id 0xFD \
  --new-motor-id 126 --store 1 --verify 1

HighTorque via binding:

from motorbridge import Controller

with Controller("can0") as ctrl:
    motor = ctrl.add_hightorque_motor(1, 0x01, "hightorque")
    motor.send_mit(3.1416, 0.8, 0.0, 0.0, 0.8)  # kp/kd are accepted but ignored by protocol
    motor.request_feedback()
    print(motor.get_state())
    motor.close()

HighTorque via Rust CLI:

cargo run -p motor_cli --release -- \
  --vendor hightorque --channel can0 --motor-id 1 --mode read

Experimental Windows Support (PCAN-USB)

Linux remains the primary target. Windows support is experimental and currently uses PEAK PCAN.

• Install PEAK PCAN driver + PCAN-Basic runtime (PCANBasic.dll).
• Use channel as can0@1000000 (maps to PCAN_USBBUS1 at 1Mbps).

Recommended quick validation with Rust CLI on Windows:

cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode scan --start-id 1 --end-id 16
cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode pos-vel --pos 3.1416 --vlim 2.0 --loop 1 --dt-ms 20
cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4310 --motor-id 0x07 --feedback-id 0x17 --mode pos-vel --pos 3.1416 --vlim 2.0 --loop 1 --dt-ms 20

Local wheel build (Windows):

python -m pip install --user wheel
set MOTORBRIDGE_LIB=%CD%\\target\\release\\motor_abi.dll
set MOTORBRIDGE_WS_GATEWAY_BIN=%CD%\\target\\release\\ws_gateway.exe
python -m pip wheel --no-build-isolation bindings/python -w bindings/python/dist
python -m pip install bindings/python/dist/motorbridge-*.whl

Example Programs

• Damiao wrapper demo: examples/python_wrapper_demo.py
• Hexfellow CAN-FD demo: examples/hexfellow_canfd_demo.py (MIT / POS_VEL only)
• Damiao maintenance demo: examples/damiao_maintenance_demo.py
• Damiao register rw demo: examples/damiao_register_rw_demo.py
• Damiao dm-serial demo: examples/damiao_dm_serial_demo.py
• RobStride wrapper demo: examples/robstride_wrapper_demo.py
• Full Damiao mode demo: examples/full_modes_demo.py
• Damiao scan / tune / position helpers:
  • examples/scan_ids_demo.py
  • examples/pid_register_tune_demo.py
  • examples/pos_ctrl_demo.py
  • examples/pos_repl_demo.py

See examples/README.md (English) or examples/READMEzh_cn.md (Chinese).

Damiao Full-Coverage Status

Damiao usage in Python examples is now covered end-to-end:

• control modes: mit / pos-vel / vel / force-pos
• transport paths: SocketCAN/PCAN constructor + from_dm_serial(...)
• maintenance ops: clear_error, set_zero_position, set_can_timeout_ms, request_feedback
  • project guard for Damiao set-zero: call disable() before set_zero_position()
  • no user-facing ms parameter for set-zero; core applies fixed 20ms settle
• register APIs: get/write f32, get/write u32, store_parameters

RobStride Maintenance Notes

• clear_error() is supported through the same unified motor method as Damiao.
• robstride_set_active_report(True/False) toggles RobStride comm_type 24 active status reporting.
• With active reporting enabled, background polling can update get_state() from incoming status frames without a fresh query command; request_feedback() remains available as a compatibility/manual-refresh helper.

CLI Run-Mode Argument Map

motorbridge-cli run keeps one unified command surface, but each vendor/mode uses only the arguments that its native protocol understands.

Vendor	Mode	Effective arguments	Notes
Damiao	mit	--pos --vel --kp --kd --tau	native MIT frame
Damiao	pos-vel	--pos --vlim	native position-speed frame
Damiao	vel	--vel	native velocity frame
Damiao	force-pos	--pos --vlim --ratio	native force-position frame
RobStride	mit	--pos --vel --kp --kd --tau	native MIT frame
RobStride	pos-vel	--pos --vlim --loc-kp	maps to native Position mode; --kp is accepted as a --loc-kp fallback
RobStride	vel	--vel	native speed mode
HighTorque	mit	--pos --vel --tau	--kp/--kd are accepted for unified signature but ignored by ht_can v1.5.5
Hexfellow	mit	--pos --vel --kp --kd --tau	CAN-FD path
Hexfellow	pos-vel	--pos --vlim	CAN-FD path

For RobStride pos-vel, --vel, --kd, and --tau are intentionally ignored because the firmware path is parameter-based (limit_spd, loc_kp, loc_ref). The Rust CLI and Python CLI warn when those ignored arguments are explicitly provided.

End-to-End Demo Commands

# Build ABI once
cargo build -p motor_abi --release
export PYTHONPATH=bindings/python/src
export LD_LIBRARY_PATH=$PWD/target/release:${LD_LIBRARY_PATH}

# Damiao wrapper demo
python3 bindings/python/examples/python_wrapper_demo.py \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --pos 0 --vel 0 --kp 20 --kd 1 --tau 0 --loop 20 --dt-ms 20

# RobStride wrapper demo: ping
python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD --mode ping

# RobStride wrapper demo: clear fault
python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD --mode clear-error

# RobStride wrapper demo: active-report bring-up
python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD \
  --mode write-param --param-id 0x7026 --param-type u16 --param-value 3

python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD \
  --mode active-report --active-report 1

# RobStride wrapper demo: position command
python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD \
  --mode pos-vel --pos 1.5 --vlim 1.0 --loc-kp 5.0 --loop 1 --dt-ms 20

# RobStride wrapper demo: velocity
python3 bindings/python/examples/robstride_wrapper_demo.py \
  --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD \
  --mode vel --vel 0.3 --loop 40 --dt-ms 50

Notes

• id-dump is a Damiao workflow; id-set supports Damiao and RobStride; scan supports damiao|hexfellow|myactuator|robstride|hightorque|all.
• For RobStride id-set, --new-motor-id changes device_id; --feedback-id remains the host-side ID.
• RobStride motor_id / device_id is validated as 1..255; feedback_id / host_id is validated as 0..255 to prevent silent ctypes truncation.
• RobStride scan probes each --feedback-ids host_id exactly through host-id-specific ABI helpers; invalid host IDs are rejected instead of silently falling back.
• Python CLI and Rust CLI are aligned for the production Damiao and RobStride workflows: scan, enable/disable, control, ID update, parameter read/write, RobStride clear-error, and RobStride active-report. Rust CLI still exposes deeper vendor-specific surfaces for HighTorque/MyActuator/Hexfellow debugging.
• Mode.MIT and send_force_pos are not available for MyActuator in ABI wrapper.
• Hexfellow supports MIT and POS_VEL through ABI wrapper; VEL and FORCE_POS return unsupported.
• Full Damiao tuning reference stays in:
  • DAMIAO_API.md
  • DAMIAO_API.zh-CN.md

PyPI Auto Publish (GitHub Actions)

This repository includes .github/workflows/pypi-publish.yml.

• Tag publish policy:
  • push vX.Y.Z -> publish the same artifacts to both TestPyPI and PyPI
• Manual publish is still available via workflow Python Publish:
  • testpypi (only TestPyPI)
  • pypi (only PyPI)

One-time setup (token mode)

1. Create API token on PyPI and add repository secret PYPI_API_TOKEN.
2. Create API token on TestPyPI and add repository secret TEST_PYPI_API_TOKEN.
3. Keep package version unique for every upload (for example 0.1.6, 0.1.7).