def sphere_geometry_msg():
"""
Constructs a viewer_geometry_data_t() describing a single green sphere.
"""
msg = lcmbot.viewer_geometry_data_t()
msg.type = msg.SPHERE
# Position and orientation of the center of the sphere relative to the origin of the link which contains it:
msg.position = [0, 0, 0]
msg.quaternion = [1, 0, 0, 0]
msg.color = [0, 1, 0, 0.5] # R G B A
msg.string_data = ""
msg.float_data = [0.5] # Radius
msg.num_float_data = 1
return msg
def sphere_geometry_msg():
"""
Constructs a viewer_geometry_data_t() describing a single green sphere.
"""
msg = lcmbot.viewer_geometry_data_t()
msg.type = msg.SPHERE
# Position and orientation of the center of the sphere relative to the origin of the link which contains it:
msg.position = [0, 0, 0]
msg.quaternion = [1, 0, 0, 0]
msg.color = [0, 1, 0, 0.5] # R G B A
msg.string_data = ""
msg.float_data = [0.5] # Radius
msg.num_float_data = 1
return msg
def rectangle_geometry_msg():
"""
Constructs a viewer_geometry_data_t describing a red rectangular prism
"""
msg = lcmbot.viewer_geometry_data_t()
msg.type = msg.BOX
# Position and orientation of the center of the rectangle relative to the origin of the link which contains it:
msg.position = [0, 0, 0]
msg.quaternion = [1, 0, 0, 0]
msg.color = [1, 0, 0, 0.5] # R G B A
msg.string_data = ""
msg.float_data = [1.0, 0.5, 0.5] # Length along x, y, z axes
msg.num_float_data = 3
return msg
def rectangle_geometry_msg():
"""
Constructs a viewer_geometry_data_t describing a red rectangular prism
"""
msg = lcmbot.viewer_geometry_data_t()
msg.type = msg.BOX
# Position and orientation of the center of the rectangle relative to the origin of the link which contains it:
msg.position = [0, 0, 0]
msg.quaternion = [1, 0, 0, 0]
msg.color = [1, 0, 0, 0.5] # R G B A
msg.string_data = ""
msg.float_data = [1.0, 0.5, 0.5] # Length along x, y, z axes
msg.num_float_data = 3
return msg
