def __init__(self,name): M3Component.__init__(self,name,type='m3tactile_pps22_ec') self.status=mec.M3TactilePPS22EcStatus() self.command=mec.M3TactilePPS22EcCommand() self.param=mec.M3TactilePPS22EcParam() self.taxels=nu.zeros(22,nu.Float32) self.read_config()
def __init__(self, name, type='m3dynamatics'):
M3Component.__init__(self, name, type=type)
self.status = mrt.M3DynamaticsStatus()
self.command = mrt.M3DynamaticsCommand()
self.param = mrt.M3DynamaticsParam()
for i in range(3):
self.param.payload_com.append(0)
for i in range(6):
self.param.payload_inertia.append(0)
self.read_config()
self.T80 = nu.zeros([4, 4],
nu.float32) #Transform from end to base frame
self.T08 = nu.zeros([4, 4],
nu.float32) #Transform from base to end frame
self.G = nu.zeros(self.ndof + 1, nu.float32) #Gravity vector on joints
self.C = nu.zeros(self.ndof + 1,
nu.float32) #Coriolis vector on joints
self.J = nu.zeros(
[6, self.ndof],
nu.float32) #Jacobian from joint torques to end torques
self.Jt = nu.zeros([self.ndof, 6],
nu.float32) #Transform end wrench to joint torques.
self.end_twist = nu.zeros(6, nu.float32)
self.end_pos = nu.zeros(3, nu.float32)
self.end_rot = nu.zeros([3, 3], nu.float32)
def __init__(self, name):
M3Component.__init__(self, name, type='m3loadx6')
self.status = mrt.M3LoadX6Status()
self.command = mrt.M3LoadX6Command()
self.param = mrt.M3LoadX6Param()
self.wrench = nu.zeros(6, float)
self.read_config()
def __init__(self,name):
M3Component.__init__(self,name,type='m3robot_monitor')
self.status=mrm.M3RobotMonitorStatus()
self.command=mrm.M3RobotMonitorCommand()
self.param=mrm.M3RobotMonitorParam()
self.read_config()
def __init__(self, name, ndof, ctype):
M3Component.__init__(self, name, ctype)
self.read_config()
self.status = mab.M3JointArrayStatus()
self.command = mab.M3JointArrayCommand()
self.param = mab.M3JointArrayParam()
if ndof is None:
ndof = self.config['ndof']
self.ndof = ndof
self.vias = []
self.via_idx = 0
# Grow the protocol buffer messages to correct size
# NOTE: should really support mixed sizes but...
for i in range(self.ndof):
self.command.pwm_desired.append(0)
self.command.tq_desired.append(0)
self.command.q_desired.append(0)
self.command.qdot_desired.append(0)
self.command.q_stiffness.append(0)
self.command.q_slew_rate.append(0)
self.command.smoothing_mode.append(msm.SMOOTHING_MODE_OFF)
self.command.ctrl_mode.append(mam.JOINT_ARRAY_MODE_OFF)
self.motor_temp = nu.zeros(self.ndof, float)
self.amp_temp = nu.zeros(self.ndof, float)
self.torque = nu.zeros(self.ndof, float)
self.torquedot = nu.zeros(self.ndof, float)
self.current = nu.zeros(self.ndof, float)
self.theta = nu.zeros(self.ndof, float)
self.thetadot = nu.zeros(self.ndof, float)
self.thetadotdot = nu.zeros(self.ndof, float)
self.max_slew_rates = self.__get_max_slew_rates_from_config()
def __init__(self, name):
M3Component.__init__(self, name, type='m3tactile_pps22_ec')
self.status = mec.M3TactilePPS22EcStatus()
self.command = mec.M3TactilePPS22EcCommand()
self.param = mec.M3TactilePPS22EcParam()
self.taxels = nu.zeros(22, nu.Float32)
self.read_config()
def __init__(self,name,ndof,ctype):
M3Component.__init__(self,name,ctype)
self.read_config()
self.status=mab.M3JointArrayStatus()
self.command=mab.M3JointArrayCommand()
self.param=mab.M3JointArrayParam()
if ndof is None:
ndof=self.config['ndof']
self.ndof=ndof
self.vias=[]
self.via_idx=0
# Grow the protocol buffer messages to correct size
# NOTE: should really support mixed sizes but...
for i in range(self.ndof):
self.command.pwm_desired.append(0)
self.command.tq_desired.append(0)
self.command.q_desired.append(0)
self.command.qdot_desired.append(0)
self.command.q_stiffness.append(0)
self.command.q_slew_rate.append(0)
self.command.smoothing_mode.append(msm.SMOOTHING_MODE_OFF)
self.command.ctrl_mode.append(mam.JOINT_ARRAY_MODE_OFF)
self.motor_temp=nu.zeros(self.ndof,float)
self.amp_temp=nu.zeros(self.ndof,float)
self.torque=nu.zeros(self.ndof,float)
self.torquedot=nu.zeros(self.ndof,float)
self.current=nu.zeros(self.ndof,float)
self.theta=nu.zeros(self.ndof,float)
self.thetadot=nu.zeros(self.ndof,float)
self.thetadotdot=nu.zeros(self.ndof,float)
self.max_slew_rates=self.__get_max_slew_rates_from_config()
def __init__(self,name): M3Component.__init__(self,name,type='m3loadx6') self.status=mrt.M3LoadX6Status() self.command=mrt.M3LoadX6Command() self.param=mrt.M3LoadX6Param() self.wrench=nu.zeros(6,float) self.read_config()
def __init__(self,name,type='m3head_s2csp_ctrl'): M3Component.__init__(self,name,type=type) self.status=hpb.M3HeadS2CSPCtrlStatus() self.command=hpb.M3HeadS2CSPCtrlCommand() self.param=hpb.M3HeadS2CSPCtrlParam() self.read_config() for i in range(3): self.command.target.append(0) self.status.xe.append(0)
def __init__(self, name, type='m3head_s2csp_ctrl'):
M3Component.__init__(self, name, type=type)
self.status = hpb.M3HeadS2CSPCtrlStatus()
self.command = hpb.M3HeadS2CSPCtrlCommand()
self.param = hpb.M3HeadS2CSPCtrlParam()
self.read_config()
for i in range(3):
self.command.target.append(0)
self.status.xe.append(0)
def __init__(self, name):
M3Component.__init__(self, name, type='m3ledx2xn_ec')
self.status = mec.M3LedX2XNEcStatus()
self.command = mec.M3LedX2XNEcCommand()
self.param = mec.M3LedX2XNEcParam()
self.read_config()
self.slew = {'branch_a': [], 'branch_b': []}
self.nled = {
'branch_a': self.config['param']['n_branch_a'],
'branch_b': self.config['param']['n_branch_b']
}
self.phase = {'branch_a': [], 'branch_b': []}
for i in range(self.nled['branch_a']):
self.command.branch_a.r.append(0)
self.command.branch_a.g.append(0)
self.command.branch_a.b.append(0)
self.slew['branch_a'].append(
[m3t.M3Slew(), m3t.M3Slew(),
m3t.M3Slew()])
self.phase['branch_a'].append(math.pi * i / (math.pi * 2))
for i in range(self.nled['branch_b']):
self.command.branch_b.r.append(0)
self.command.branch_b.g.append(0)
self.command.branch_b.b.append(0)
self.slew['branch_b'].append(
[m3t.M3Slew(), m3t.M3Slew(),
m3t.M3Slew()])
self.phase['branch_b'].append(math.pi * i / (math.pi * 2))
self.circ_slew = {'branch_a': [], 'branch_b': []}
for i in range(6):
for b in ['branch_a', 'branch_b']:
self.circ_slew[b].append(m3t.M3Slew())
self.command_branch = {
'branch_a': self.command.branch_a,
'branch_b': self.command.branch_b
}
self.mode = {
'branch_a': mode_ledx2xn_off,
'branch_b': mode_ledx2xn_off
}
self.rgb = {
'branch_a': [[0, 0, 0]] * self.nled['branch_a'],
'branch_b': [[0, 0, 0]] * self.nled['branch_b']
}
self.slew_rate = {'branch_a': 0, 'branch_b': 0}
self.circ_rate = {'branch_a': 0, 'branch_b': 0}
self.circ_slew_rate = {'branch_a': 0, 'branch_b': 0}
self.circ_rgb_1 = {'branch_a': None, 'branch_b': None}
self.circ_rgb_2 = {'branch_a': None, 'branch_b': None}
self.step = {'branch_a': 0, 'branch_b': 0}
self.disable_leds()
def __init__(self, name):
M3Component.__init__(self, name, type='m3ledx2_ec')
self.status = mec.M3LedX2EcStatus()
self.command = mec.M3LedX2EcCommand()
self.param = mec.M3LedX2EcParam()
self.read_config()
self.slew_aa_r = m3t.M3Slew()
self.slew_aa_g = m3t.M3Slew()
self.slew_aa_b = m3t.M3Slew()
self.slew_ab_r = m3t.M3Slew()
self.slew_ab_g = m3t.M3Slew()
self.slew_ab_b = m3t.M3Slew()
self.slew_ba_r = m3t.M3Slew()
self.slew_ba_g = m3t.M3Slew()
self.slew_ba_b = m3t.M3Slew()
self.slew_bb_r = m3t.M3Slew()
self.slew_bb_g = m3t.M3Slew()
self.slew_bb_b = m3t.M3Slew()
def __init__(self,name): M3Component.__init__(self,name,type='m3ledx2_ec') self.status=mec.M3LedX2EcStatus() self.command=mec.M3LedX2EcCommand() self.param=mec.M3LedX2EcParam() self.read_config() self.slew_aa_r=m3t.M3Slew() self.slew_aa_g=m3t.M3Slew() self.slew_aa_b=m3t.M3Slew() self.slew_ab_r=m3t.M3Slew() self.slew_ab_g=m3t.M3Slew() self.slew_ab_b=m3t.M3Slew() self.slew_ba_r=m3t.M3Slew() self.slew_ba_g=m3t.M3Slew() self.slew_ba_b=m3t.M3Slew() self.slew_bb_r=m3t.M3Slew() self.slew_bb_g=m3t.M3Slew() self.slew_bb_b=m3t.M3Slew()
def __init__(self, name, type):
M3Component.__init__(self, name, type)
# TODO: Figure this out from config.
self.num_casters = 4
self.command = mob.MekaOmnibaseControlCommand()
self.status = mob.MekaOmnibaseControlStatus()
self.param = mob.MekaOmnibaseControlParam()
self.read_config()
for i in range(3):
self.command.xd_des.append(0.0)
for i in range(self.num_casters):
self.command.betad_des.append(0.0)
self.command.phid_des.append(0.0)
self.command.tqr.append(0.0)
self.command.ctrl_mode = mob.MEKA_OMNIBASE_CONTROL_OFF
def __init__(self,name):
M3Component.__init__(self,name,type='m3led_matrix_ec')
self.status=mec.M3LedMatrixEcStatus()
self.command=mec.M3LedMatrixEcCommand()
self.param=mec.M3LedMatrixEcParam()
self.read_config()
self.num_row=self.config['num_rows']
self.num_col=self.config['num_cols']
self.ra=0
if self.config['invert_image']:
self.ra=self.num_row-1
for i in range(self.num_row):
self.command.row.add()
for j in range(self.num_col):
self.command.row[i].column.add()
#Setup animations
self.seq_id=0
self.animations={}
self.anim_name=None
def __init__(self, name, type="m3dynamatics"):
M3Component.__init__(self, name, type=type)
self.status = mrt.M3DynamaticsStatus()
self.command = mrt.M3DynamaticsCommand()
self.param = mrt.M3DynamaticsParam()
for i in range(3):
self.param.payload_com.append(0)
for i in range(6):
self.param.payload_inertia.append(0)
self.read_config()
self.T80 = nu.zeros([4, 4], nu.float32) # Transform from end to base frame
self.T08 = nu.zeros([4, 4], nu.float32) # Transform from base to end frame
self.G = nu.zeros(self.ndof + 1, nu.float32) # Gravity vector on joints
self.C = nu.zeros(self.ndof + 1, nu.float32) # Coriolis vector on joints
self.J = nu.zeros([6, self.ndof], nu.float32) # Jacobian from joint torques to end torques
self.Jt = nu.zeros([self.ndof, 6], nu.float32) # Transform end wrench to joint torques.
self.end_twist = nu.zeros(6, nu.float32)
self.end_pos = nu.zeros(3, nu.float32)
self.end_rot = nu.zeros([3, 3], nu.float32)
def __init__(self,name):
M3Component.__init__(self,name,type='m3ledx2xn_ec')
self.status=mec.M3LedX2XNEcStatus()
self.command=mec.M3LedX2XNEcCommand()
self.param=mec.M3LedX2XNEcParam()
self.read_config()
self.slew={'branch_a':[],'branch_b':[]}
self.nled={'branch_a':self.config['param']['n_branch_a'],'branch_b':self.config['param']['n_branch_b']}
self.phase={'branch_a':[],'branch_b':[]}
for i in range(self.nled['branch_a']):
self.command.branch_a.r.append(0)
self.command.branch_a.g.append(0)
self.command.branch_a.b.append(0)
self.slew['branch_a'].append([m3t.M3Slew(),m3t.M3Slew(),m3t.M3Slew()])
self.phase['branch_a'].append(math.pi*i/(math.pi*2))
for i in range(self.nled['branch_b']):
self.command.branch_b.r.append(0)
self.command.branch_b.g.append(0)
self.command.branch_b.b.append(0)
self.slew['branch_b'].append([m3t.M3Slew(),m3t.M3Slew(),m3t.M3Slew()])
self.phase['branch_b'].append(math.pi*i/(math.pi*2))
self.circ_slew={'branch_a':[],'branch_b':[]}
for i in range(6):
for b in ['branch_a','branch_b']:
self.circ_slew[b].append(m3t.M3Slew())
self.command_branch={'branch_a':self.command.branch_a,'branch_b':self.command.branch_b}
self.mode={'branch_a':mode_ledx2xn_off,'branch_b':mode_ledx2xn_off}
self.rgb={'branch_a':[[0,0,0]]*self.nled['branch_a'],'branch_b':[[0,0,0]]*self.nled['branch_b']}
self.slew_rate={'branch_a':0,'branch_b':0}
self.circ_rate={'branch_a':0,'branch_b':0}
self.circ_slew_rate={'branch_a':0,'branch_b':0}
self.circ_rgb_1={'branch_a':None,'branch_b':None}
self.circ_rgb_2={'branch_a':None,'branch_b':None}
self.step={'branch_a':0,'branch_b':0}
self.disable_leds()
def __init__(self,name,type): M3Component.__init__(self,name,type)
def __init__(self,name):
M3Component.__init__(self,name,type='m3pwr_ec')
self.status=mec.M3PwrEcStatus()
self.command=mec.M3PwrEcCommand()
self.param=mec.M3PwrEcParam()
self.read_config()
def __init__(self, name, type='m3actuator'):
M3Component.__init__(self, name, type=type)
self.status = m3.actuator_pb2.M3ActuatorStatus()
self.command = m3.actuator_pb2.M3ActuatorCommand()
self.param = m3.actuator_pb2.M3ActuatorParam()
self.read_config()
def __init__(self,name,type='m3loadx1'):
M3Component.__init__(self,name,type=type)
self.status=m3.loadx1_pb2.M3LoadX1Status()
self.command=m3.loadx1_pb2.M3LoadX1Command()
self.param=m3.loadx1_pb2.M3LoadX1Param()
self.read_config()
def __init__(self, name, type):
M3Component.__init__(self, name, type)
def __init__(self,name):
M3Component.__init__(self,name,type='m3haptic_demo')
self.status=mrt.M3HapticDemoStatus()
self.command=mrt.M3HapticDemoCommand()
self.param=mrt.M3HapticDemoParam()
self.read_config()
def __init__(self, name):
M3Component.__init__(self, name, type='m3haptic_demo')
self.status = mrt.M3HapticDemoStatus()
self.command = mrt.M3HapticDemoCommand()
self.param = mrt.M3HapticDemoParam()
self.read_config()
def __init__(self,name,ctype='m3async_io'):
M3Component.__init__(self,name,type=ctype)
self.read_config()
self.status=mab.M3AsyncIOStatus()
self.command=mab.M3AsyncIOCommand()
self.param=mab.M3AsyncIOParam()
def __init__(self,name,type='m3joint'):
M3Component.__init__(self,name,type=type)
self.status=jpb.M3JointStatus()
self.command=jpb.M3JointCommand()
self.param=jpb.M3JointParam()
self.read_config()
def __init__(self, name, type="m3actuator"):
M3Component.__init__(self, name, type=type)
self.status = m3.actuator_pb2.M3ActuatorStatus()
self.command = m3.actuator_pb2.M3ActuatorCommand()
self.param = m3.actuator_pb2.M3ActuatorParam()
self.read_config()
def __init__(self, name, type="m3joint"):
M3Component.__init__(self, name, type=type)
self.status = jpb.M3JointStatus()
self.command = jpb.M3JointCommand()
self.param = jpb.M3JointParam()
self.read_config()
def __init__(self, name, ctype='m3async_io'):
M3Component.__init__(self, name, type=ctype)
self.read_config()
self.status = mab.M3AsyncIOStatus()
self.command = mab.M3AsyncIOCommand()
self.param = mab.M3AsyncIOParam()
def __init__(self,name):
M3Component.__init__(self,name,type='m3pwr')
self.status=mrt.M3PwrStatus()
self.command=mrt.M3PwrCommand()
self.param=mrt.M3PwrParam()
self.read_config()
def __init__(self,name,type='m3actuator_ec'):
M3Component.__init__(self,name,type=type)
self.status=mec.M3ActuatorEcStatus()
self.command=mec.M3ActuatorEcCommand()
self.param=mec.M3ActuatorEcParam()
self.read_config()
def __init__(self, name, type='m3actuator_ec'):
M3Component.__init__(self, name, type=type)
self.status = mec.M3ActuatorEcStatus()
self.command = mec.M3ActuatorEcCommand()
self.param = mec.M3ActuatorEcParam()
self.read_config()
def __init__(self, name, type='m3loadx1'):
M3Component.__init__(self, name, type=type)
self.status = m3.loadx1_pb2.M3LoadX1Status()
self.command = m3.loadx1_pb2.M3LoadX1Command()
self.param = m3.loadx1_pb2.M3LoadX1Param()
self.read_config()
def __init__(self,name,controller_type):
M3Component.__init__(self,name,controller_type)
self.status = m3_ci.M3ControllerStatus()
self.command = m3_ci.M3ControllerCommand()
self.param = m3_ci.M3ControllerParam()
def __init__(self,name,type='m3loadx1_ec'):
M3Component.__init__(self,name,type=type)
self.status=mec.M3LoadX1EcStatus()
self.command=mec.M3LoadX1EcCommand()
self.param=mec.M3LoadX1EcParam()
self.read_config()
def __init__(self,name,type='m3ctrl_simple'): M3Component.__init__(self,name,type=type) self.status = m3.ctrl_simple_pb2.M3CtrlSimpleStatus() self.command = m3.ctrl_simple_pb2.M3CtrlSimpleCommand() self.param = m3.ctrl_simple_pb2.M3CtrlSimpleParam() self.read_config()
def __init__(self, name):
M3Component.__init__(self, name, type='m3pwr')
self.status = mrt.M3PwrStatus()
self.command = mrt.M3PwrCommand()
self.param = mrt.M3PwrParam()
self.read_config()
def __init__(self, name, type='m3ctrl_simple'):
M3Component.__init__(self, name, type=type)
self.status = m3.ctrl_simple_pb2.M3CtrlSimpleStatus()
self.command = m3.ctrl_simple_pb2.M3CtrlSimpleCommand()
self.param = m3.ctrl_simple_pb2.M3CtrlSimpleParam()
self.read_config()
