def __init__(self, chain=None):
DynamixelHelloXL430.__init__(self, 'wrist_yaw', chain)
self.poses = {
'side': deg_to_rad(90.0),
'forward': deg_to_rad(0.0),
'stow': deg_to_rad(180.0)
}
def __init__(self, chain=None):
DynamixelHelloXL430.__init__(self, 'stretch_gripper', chain)
self.status['pos_pct']= 0.0
self.pct_max_open=self.world_rad_to_pct(self.ticks_to_world_rad(self.params['range_t'][1])) #May be a bit greater than 50 given non-linear calibration
self.poses = {'zero': 0,
'open': self.pct_max_open,
'close': -100}
def __init__(self, chain=None):
DynamixelHelloXL430.__init__(self, 'wrist_roll', chain)
self.logger = logging.getLogger('robot.wrist_roll')
self.poses = {
'cw_90': deg_to_rad(90.0),
'forward': deg_to_rad(0.0),
'ccw_90': deg_to_rad(-90.0)
}
self.sentry_active = False
def __init__(self, chain=None):
DynamixelHelloXL430.__init__(self, 'wrist_pitch', chain)
self.logger = logging.getLogger('robot.wrist_pitch')
self.poses = {
'up': deg_to_rad(56.0),
'forward': deg_to_rad(0.0),
'down': deg_to_rad(-90.0)
}
self.sentry_active = False
def __init__(self, chain=None, verbose=False):
DynamixelHelloXL430.__init__(self, 'wrist_yaw', chain, verbose=verbose)
self.logger = logging.getLogger('robot.wrist_yaw')
self.poses = {
'side': deg_to_rad(90.0),
'forward': deg_to_rad(0.0),
'stow': deg_to_rad(180.0)
}
self.sentry_active = False
def __init__(self, chain=None):
DynamixelHelloXL430.__init__(self, 'wrist_pitch', chain)
self.poses = {'tool_up': deg_to_rad(45),
'tool_down': deg_to_rad(-45)}
def __init__(self, chain=None,verbose=False):
DynamixelHelloXL430.__init__(self,'stretch_gripper',chain,verbose=verbose)
self.logger = logging.getLogger('robot.stretch_gripper')
self.status['pos_pct']= 0.0
self.poses = {'zero':0,'open': 50, 'close': -100}