def apply3DFit(self):
if om.findObjectByName('drill') is None:
self.log('No 3D fit of drill. Click Spawn Drill button to provide a fit.')
msg = lcmdrc.pfgrasp_command_t()
msg.command = lcmdrc.pfgrasp_command_t.RUN_ONE_ITER_W_3D_PRIOR
affordanceReach = om.findObjectByName('grasp frame')
affordanceReach.actor.GetUserTransform().GetPosition(msg.pos)
lcmUtils.publish('PFGRASP_CMD', msg)
def start(self, autoMode):
# start pfgrasp c++ program
startPfgraspHere = False
# initialize pfgrasp particles
msg = lcmdrc.pfgrasp_command_t()
msg.command = lcmdrc.pfgrasp_command_t.START
lcmUtils.publish('PFGRASP_CMD', msg)
self.autoMode = autoMode
if self.autoMode:
self.runoneiter()
def runoneiter(self):
msg = lcmdrc.pfgrasp_command_t()
msg.command = lcmdrc.pfgrasp_command_t.RUN_ONE_ITER
lcmUtils.publish('PFGRASP_CMD', msg)