storm_kit.mpc.utils.zmq_robot_interface module

class RobotInterface(pub_topic='control_traj', sub_topic='robot_state', host='127.0.0.1', pub_port='5001', sub_port='5002', pair_port='5003')[source]

Bases: object

close()[source]
get_state()[source]
publish_action(action_traj, append_time=True, dt=0.1)[source]
publish_command(command_state_seq, mode='acc', append_time=True)[source]
publish_state(state)[source]
class SimComms(pub_topic='control_traj', sub_topic='robot_state', host='127.0.0.1', pub_port='5001', sub_port='5002')[source]

Bases: object

close()[source]
get_state()[source]
send_command(cmd)[source]
thread_fn_pub()[source]
thread_fn_sub()[source]
recv_array(socket, flags=0, copy=True, track=False)[source]

recv a numpy array

send_array(socket, A, flags=0, copy=True, track=False)[source]

send a numpy array with metadata