def sendWorkspaceDepthRequest(repeatTime=0.0): sendDataRequest(lcmmaps.data_request_t.DEPTH_MAP_WORKSPACE_C, repeatTime) def sendSceneDepthRequest(repeatTime=0.0): sendDataRequest(lcmmaps.data_request_t.DEPTH_MAP_SCENE, repeatTime) def sendFusedDepthRequest(repeatTime=0.0): sendDataRequest(lcmmaps.data_request_t.FUSED_DEPTH, repeatTime) def sendFusedHeightRequest(repeatTime=0.0): sendDataRequest(lcmmaps.data_request_t.FUSED_HEIGHT, repeatTime) handJoints = [] if drcargs.args().directorConfigFile.find('atlas') != -1: handJoints = roboturdf.getRobotiqJoints() + ['neck_ay'] else: for handModel in ikPlanner.handModels: handJoints += handModel.handModel.model.getJointNames() # filter base joints out handJoints = [ joint for joint in handJoints if joint.find('base')==-1 ] teleopJointPropagator = JointPropagator(robotStateModel, teleopRobotModel, handJoints) playbackJointPropagator = JointPropagator(robotStateModel, playbackRobotModel, handJoints) def doPropagation(model=None): if teleopRobotModel.getProperty('Visible'): teleopJointPropagator.doPropagation() if playbackRobotModel.getProperty('Visible'): playbackJointPropagator.doPropagation() robotStateModel.connectModelChanged(doPropagation)
def sendWorkspaceDepthRequest(repeatTime=0.0): sendDataRequest(lcmmaps.data_request_t.DEPTH_MAP_WORKSPACE_C, repeatTime) def sendSceneDepthRequest(repeatTime=0.0): sendDataRequest(lcmmaps.data_request_t.DEPTH_MAP_SCENE, repeatTime) def sendFusedDepthRequest(repeatTime=0.0): sendDataRequest(lcmmaps.data_request_t.FUSED_DEPTH, repeatTime) def sendFusedHeightRequest(repeatTime=0.0): sendDataRequest(lcmmaps.data_request_t.FUSED_HEIGHT, repeatTime) handJoints = [] if drcargs.args().directorConfigFile.find('atlas') != -1: handJoints = roboturdf.getRobotiqJoints() + ['neck_ay'] else: for handModel in ikPlanner.handModels: handJoints += handModel.handModel.model.getJointNames() # filter base joints out handJoints = [ joint for joint in handJoints if joint.find('base') == -1 ] teleopJointPropagator = JointPropagator(robotStateModel, teleopRobotModel, handJoints) playbackJointPropagator = JointPropagator(robotStateModel, playbackRobotModel, handJoints) def doPropagation(model=None): if teleopRobotModel.getProperty('Visible'):