def armAndGripperShape(self, c, hand, attached):
parts = dict([(o.name(), o) for o in c.placement(attached=attached).parts()])
armShapes = [parts[self.armChainNames[hand]],
parts[self.gripperChainNames[hand]]]
if attached and attached[hand]:
armShapes.append(parts[attached[hand].name()])
return shapes.Shape(armShapes, None)
def placement(self, conf, getShapes=True, attached=None):
place, attachedParts, trans = self.placementAux(conf, getShapes, attached)
if attached and getShapes and any(attached.values()):
return shapes.Shape(place.parts() + [x for x in attachedParts.values() if x],
place.origin(),
name=place.name()), trans
else:
return place, trans
def armShape(self, c, hand):
parts = dict([(o.name(), o) for o in c.placement().parts()])
armShapes = [parts[self.armChainNames[hand]]]
return shapes.Shape(armShapes, None)
def Sh(*args, **prop): return shapes.Shape(list(args), Ident, **prop) # Small base and torso pr2BaseLink = Sh(\