def __init__(self): #Factory + Tool params form the robot_params #User params can overwrite the resulting robot_params self.user_params = hello_utils.read_fleet_yaml( 'stretch_re1_user_params.yaml') self.robot_params = hello_utils.read_fleet_yaml( self.user_params['factory_params']) self.robot_params.update( hello_utils.read_fleet_yaml(self.user_params['tool_params'])) self.overwrite_params(self.robot_params, self.user_params) self.timestamp = DeviceTimestamp()
#!/usr/bin/env python import os import stretch_body.hello_utils as hu batch_name = hu.read_fleet_yaml('stretch_re1_factory_params.yaml')['robot']['batch_name'].lower() cmd='cp ~/catkin_ws/src/stretch_ros/stretch_description/meshes/'+batch_name+'/*.STL ~/catkin_ws/src/stretch_ros/stretch_description/meshes' print("Copying in mesh files from batch:"+batch_name) print(cmd) os.system(cmd)
def write_device_params(self, device_name, params): rp = hello_utils.read_fleet_yaml(self.user_params['factory_params']) rp[device_name] = params hello_utils.write_fleet_yaml(self.user_params['factory_params'], rp)
def __init__(self): self.user_params=hello_utils.read_fleet_yaml('stretch_re1_user_params.yaml') self.robot_params=hello_utils.read_fleet_yaml(self.user_params['factory_params']) self.robot_params.update(hello_utils.read_fleet_yaml(self.user_params['tool_params'])) self.overwrite_params(self.robot_params,self.user_params) self.timestamp = DeviceTimestamp()