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
