def _getNewPoseFromPhysics(self, view_pose): '''Return pos(xyz), quat(wxyz) ''' view_pose['quat'] = utils.quat_wxyz_to_xyzw(view_pose['quat']).tolist() self.socket_phys.send(json.dumps(view_pose)) new_pos, new_quat = json.loads(self.socket_phys.recv().decode("utf-8")) return new_pos, utils.quat_xyzw_to_wxyz(new_quat)
def _sendInitialPoseToPhysics(self, pose): pose[1] = utils.quat_wxyz_to_xyzw(pose[1]).tolist() receive = str(self.socket_phys.recv().decode("utf-8")) if (receive == "Initial"): self.socket_phys.send(json.dumps(pose)) return True else: return False
def renderOffScreenInitialPose(self): ## TODO (hzyjerry): error handling pos, quat_wxyz = self._getViewerAbsolutePose(self.target_poses[0]) pos = pos.tolist() quat_xyzw = utils.quat_wxyz_to_xyzw(quat_wxyz).tolist() return pos, quat_xyzw