Metadata-Version: 1.1
Name: being
Version: 0.3.4
Summary: Robotic core for the PATHOS project.
Home-page: UNKNOWN
Author: Alexander Theler
Author-email: UNKNOWN
License: UNKNOWN
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        Being
        =====
        
        Block based Python middle ware library for the `PATHOS
        <https://pathos.ethz.ch>`__ project.
        Developed at `RAUC <https://asl.ethz.ch/research/rauc.html>`__.
        Makes it possible to steer motors via CAN / CanOpen and process sensor data.
        Controllable via a web user interface.
        
        PATHOS
        ------
        
        PATHOS is a browser based animatronics platform for artists.
        The aim is to enable non-technical people to use robotics as an artistic medium of algorithmic motion and response, and over time allow this language to infuse visual culture at large.
        
        The platform facilitates collaboration between engineer and non-engineer and emphasizes an architecture that safeguards the artist’s settings while supporting the life-cycle of a technology dependent artwork, from sketching to producing to repair to remake.
        
        The middleware of PATHOS is called BEING.
        We intend to grow and improve its programming and hardware library over time through a contribution model.
        Its aim is to translate high level settings into nuanced hardware control and to stay platform independent while interfacing hardware as it comes and goes.
        
        The project is currently developed at the Robotics Aesthetics & Usability Center (RAUC) nested within the `Autonomous Systems Lab <https://asl.ethz.ch>`__ at ETHZ.
        
        PATHOS was initiated by the Indo-Danish art duo Pors & Rao during an artist residency at the `Wyss Zurich <https://www.wysszurich.uzh.ch/projects/outreach-projects/pathos?tx_ogwyssteams_teamlist%5Baction%5D=show&tx_ogwyssteams_teamlist%5Bcontroller%5D=Page&tx_ogwyssteams_teamlist%5Bteamid%5D=266&cHash=309fe1ed2ff78ac4cddd292a3f2b0d2e>`__ in early 2017.
        The frustrations they faced over a period of 19 years while working with lifelike physical animation and response informed the enabling of robotics as a performative medium.
        
        Getting Started
        ---------------
        
        Prerequisites
        ^^^^^^^^^^^^^
        
        Being can be installed via the setup.py
        
        .. code-block:: bash
        
            python setup.py install
        
        
        or via `PyPi <https://pypi.org/project/being/>`__ (check latest version).
        
        .. code-block:: bash
        
            pip install being
        
        Development enviroment can be set up with
        
        .. code-block:: bash
        
            python setup.py develop
        
        Running the tests with
        
        .. code-block:: bash
        
            python3 setup.py test
        
        Platform and Supported Hardware
        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
        
        Being has mainly be developed on macOs and Linux (Ubuntu, Raspberry Pi OS).
        Although untested on Windows it should be possible to be run on there as well.
        Let us know if you encounter any problems.
        
        Currently supported motor hardware modules are the *Linear Motion Module*.
        We will integrate more motors from different vendors in the near future.
        
        Primer
        ------
        
        Block Network
        ^^^^^^^^^^^^^
        
        Being provides various blocks which can be connected with each other (e.g. Motor, Sensor, Network blocks).
        There are two types of connections: *value* and *message* based.
        The former type provides a continuous stream of date while the latter discrete messages.
        Payload can be any kind of Python object.
        
        The connections have a `connect()` method which can be used for making connections.
        Note that the ``|`` operator has been overloaded to make it possible to *chain* multiple blocks in series.
        
        .. code-block:: python
        
            # Pipe operator
            a | b | c
        
            # Is equivalanet to:
            # >>> a.output.connect(b.input)
            # ... b.output.connect(c.input)
        
        Once a block network is defined it can be run with the `awake(*blocks)` function.
        This will continuously execute the block network and start up the web server for the web user interface.
        
        Example Being
        ^^^^^^^^^^^^^
        
        A small example being, based on the one from the ÉCAL workshop (without sensor input which is only available on the Raspberry PI).
        
        .. code-block:: python
        
            #!/usr/local/python3
            from being.behavior import Behavior
            from being.being import awake
            from being.motion_player import MotionPlayer
            from being.motors import Motor
            from being.resources import manage_resources
        
        
            with manage_resources():
                mot0 = Motor(nodeId=1, length=0.100)
                mot1 = Motor(nodeId=2, length=0.100)
                behavior = Behavior.from_config('behavior.json')
                mp = MotionPlayer(ndim=2)
                behavior.associate(mp)
                mp.positionOutputs[0].connect(mot0.input)
                mp.positionOutputs[1].connect(mot1.input)
                awake(behavior)
        
        A `Behavior` block tells a `MotionPlayer` which motions to play.
        Motions are multi dimensional splines which will be stored in a content directory next to the program.
        The `MotionPlayer` blocks samples the currently playing spline and outputs the values to two `Motor` blocks (CAN IDs 1 and 2).
        This will also startup a web UI which can be accessed under `localhost:8080 <http://localhost:8080>`__.
        
        Further Being Programs
        ^^^^^^^^^^^^^^^^^^^^^^
        
        Please have a look at these other example programs:
        
        * `ecal_being.py <https://github.com/rauc-lab/being/blob/master/ecal_being.py>`__: Being program for the ÉCAL workshop.
        * `run_dummy_being.py <https://github.com/rauc-lab/being/blob/master/run_dummy_being.py>`__: Standalone being with two virtual dummy motors for development and testing purposes.
        
        
        Coding Style
        ------------
        
        PEP8 / Google flavored.
        With the one exception for variable and argument names (`camelCase`). Function and in methods are `snake_case()`.
        
        Workshops
        ---------
        
        * Tutorial videos for the workshop *Being at ÉCAL* can be found `here <https://pathos.ethz.ch/ecal-workshop-2021.html>`__.
        
        Authors
        -------
        
        * Alexander Theler (`RAUC <https://asl.ethz.ch/research/rauc.html>`__, `GitHub <https://github.com/atheler>`__)
        * Silvan Januth (`Wyss Zurich <https://www.wysszurich.uzh.ch/technology-platforms/robotics-technologies?tx_ogwyssteams_teamlist%5Baction%5D=show&tx_ogwyssteams_teamlist%5Bcontroller%5D=Page&tx_ogwyssteams_teamlist%5Bteamid%5D=14&cHash=fd397786f38a735838b306d7e9655ca9#c117>`__)
        
        
        Original Idea & User Interface
        ------------------------------
        
        * Søren Pors
        
        Acknowledgments
        ---------------
        
        * Prof. Einar Nielson
        * Ilia Sergachev
        * Dr. Philipp Reist
        * Prof. Roland Siegwart
        
        Supporters
        ----------
        
        * Faulhaber Minimotor Sa
        * Gebert Ruef Foundation
        * Google Cultural Institute
        
Keywords: Poetic animatronics robotic framework
Platform: UNKNOWN
Classifier: Development Status :: 1 - Planning
Classifier: Environment :: Console
Classifier: Environment :: MacOS X
Classifier: Environment :: Other Environment
Classifier: Framework :: Robot Framework
Classifier: Framework :: Robot Framework :: Library
Classifier: Framework :: Robot Framework :: Tool
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Education
Classifier: Intended Audience :: End Users/Desktop
Classifier: Intended Audience :: Information Technology
Classifier: Intended Audience :: Other Audience
Classifier: Intended Audience :: Science/Research
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python :: 3 :: Only
Classifier: Programming Language :: Python :: Implementation :: CPython
Classifier: Topic :: Artistic Software
Classifier: Topic :: Education
Classifier: Topic :: Games/Entertainment
Classifier: Topic :: Multimedia
Classifier: Topic :: Other/Nonlisted Topic
Classifier: Topic :: Scientific/Engineering
Classifier: Topic :: Scientific/Engineering :: Human Machine Interfaces
Classifier: Topic :: System :: Hardware
Classifier: Topic :: System :: Hardware :: Hardware Drivers
