def handle_set(self, request):
""" Handles the set field of a request.
The set field is constructed as follows::
{
'set': {
'obj_name_1': {'var_path_1': value,
'var_path_2': value,
# ...
},
'obj_name_2': {'var_path_1': value,
'var_path_2': value,
# ...
},
# ...
}
}
For each triple obj_name_1, var_path_1, value the handler will set the corresponding value to self.robot.obj_name_1.var_path_1: i.e. if we want to set the goal_position and goal_speed of the motor named l_knee_y to resp. 0 and 100 we would use::
{
'set': {
'l_knee_y': {'goal_position': 0, 'present_speed': 100},
}
}
.. note:: The var_path could be complete path, e.g. "skeleton.left_foot.position.x".
"""
for obj_name, value_pairs in request.iteritems():
obj = getattr(self.robot, obj_name)
for var_path, value in value_pairs.iteritems():
attrsetter(var_path)(obj, value)
def handle_set(self, request):
""" Handles the set field of a request.
The set field is constructed as follows::
{
'set': {
'obj_name_1': {'var_path_1': value,
'var_path_2': value,
# ...
},
'obj_name_2': {'var_path_1': value,
'var_path_2': value,
# ...
},
# ...
}
}
For each triple obj_name_1, var_path_1, value the handler will set the corresponding value to self.robot.obj_name_1.var_path_1: i.e. if we want to set the goal_position and goal_speed of the motor named l_knee_y to resp. 0 and 100 we would use::
{
'set': {
'l_knee_y': {'goal_position': 0, 'present_speed': 100},
}
}
.. note:: The var_path could be complete path, e.g. "skeleton.left_foot.position.x".
"""
for obj_name, value_pairs in request.iteritems():
obj = getattr(self.robot, obj_name)
for var_path, value in value_pairs.iteritems():
attrsetter(var_path)(obj, value)
def action(self, new_action):
self._action_output = new_action
self._action = lambda x: attrsetter(self._action_output)(self.robot, x)
def action(self, new_action):
self._action_output = new_action
self._action = lambda x: attrsetter(self._action_output)(self.robot, x)
