Пример #1
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    def setNeckPitch(neckPitchDegrees):

        assert neckPitchDegrees <= 90 and neckPitchDegrees >= -90
        m = lcmdrc.neck_pitch_t()
        m.utime = 0
        m.pitch = math.radians(neckPitchDegrees)
        lcmUtils.publish('DESIRED_NECK_PITCH', m)
Пример #2
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    def setNeckPitch(neckPitchDegrees):

        assert neckPitchDegrees <= 90 and neckPitchDegrees >= -90
        m = lcmdrc.neck_pitch_t()
        m.utime = 0
        m.pitch = math.radians(neckPitchDegrees)
        lcmUtils.publish('DESIRED_NECK_PITCH', m)
Пример #3
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    def setLidarRpm(rpm):

        m = lcmmultisense.command_t()
        m.utime = getUtime()
        m.fps = -1
        m.gain = -1
        m.agc = -1
        m.rpm = rpm

        lcmUtils.publish('MULTISENSE_COMMAND', m)
Пример #4
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    def setLidarRpm(rpm):

        m = lcmmultisense.command_t()
        m.utime = getUtime()
        m.fps = -1
        m.gain = -1
        m.agc = -1
        m.rpm = rpm

        lcmUtils.publish('MULTISENSE_COMMAND', m)
Пример #5
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    def setLidarRevolutionTime(secondsPerRevolution):

        assert secondsPerRevolution >= 1.0

        m = lcmmultisense.command_t()
        m.utime = getUtime()
        m.fps = -1
        m.gain = -1
        m.agc = -1
        m.rpm = 60.0 / (secondsPerRevolution)

        lcmUtils.publish('MULTISENSE_COMMAND', m)
Пример #6
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    def setLidarRevolutionTime(secondsPerRevolution):

        assert secondsPerRevolution >= 1.0

        m = lcmmultisense.command_t()
        m.utime = getUtime()
        m.fps = -1
        m.gain = -1
        m.agc = -1
        m.rpm = 60.0 / (secondsPerRevolution)

        lcmUtils.publish('MULTISENSE_COMMAND', m)
Пример #7
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    def sendMultisenseCommand(fps, gain, exposure, agc, rpm, led_flash, led_duty):

        m = lcmmultisense.command_t()
        m.utime = getUtime()
        m.fps = fps
        m.gain = gain
        m.exposure_us = exposure
        m.agc = agc
        m.rpm = rpm
        m.leds_flash = led_flash
        m.leds_duty_cycle = led_duty

        lcmUtils.publish('MULTISENSE_COMMAND', m)
Пример #8
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    def sendMultisenseCommand(fps, gain, exposure, agc, rpm, led_flash, led_duty):

        m = lcmmultisense.command_t()
        m.utime = getUtime()
        m.fps = fps
        m.gain = gain
        m.exposure_us = exposure
        m.agc = agc
        m.rpm = rpm
        m.leds_flash = led_flash
        m.leds_duty_cycle = led_duty

        lcmUtils.publish('MULTISENSE_COMMAND', m)
Пример #9
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    def setNeckPitch(neckPitchDegrees):
        assert neckPitchDegrees <= 90 and neckPitchDegrees >= -90

        jointGroups = drcargs.getDirectorConfig()['teleopJointGroups']
        jointGroupNeck = filter(lambda group: group['name'] == 'Neck',
                                jointGroups)
        if (len(jointGroupNeck) == 1):
            neckJoints = jointGroupNeck[0]['joints']
        else:
            return

        # Assume first neck joint is the pitch joint
        m = lcmbotcore.joint_angles_t()
        m.utime = getUtime()
        m.num_joints = 1
        m.joint_name = [neckJoints[0]]
        m.joint_position = [math.radians(neckPitchDegrees)]
        lcmUtils.publish('DESIRED_NECK_ANGLES', m)
Пример #10
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    def setNeckPitch(neckPitchDegrees):
        assert neckPitchDegrees <= 90 and neckPitchDegrees >= -90

        jointGroups = drcargs.getDirectorConfig()['teleopJointGroups']
        jointGroupNeck = filter(lambda group: group['name'] == 'Neck', jointGroups)

        neckJoints = jointGroupNeck[0]['joints']
        if (len(neckJoints) == 1): # Atlas
            jointPositions = [math.radians(neckPitchDegrees)]
        elif (len(neckJoints) == 3): # Valkyrie, assuming joint 0 is lowerNeckPitch
            jointPositions = [math.radians(neckPitchDegrees), 0, 0]
        else:
            return

        # Assume first neck joint is the pitch joint
        m = lcmbotcore.joint_angles_t()
        m.utime = getUtime()
        m.num_joints = len(neckJoints)
        m.joint_name = neckJoints
        m.joint_position = jointPositions
        lcmUtils.publish('DESIRED_NECK_ANGLES', m)
Пример #11
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    def setNeckPitch(neckPitchDegrees):
        assert neckPitchDegrees <= 90 and neckPitchDegrees >= -90

        jointGroups = drcargs.getDirectorConfig()['teleopJointGroups']
        jointGroupNeck = filter(lambda group: group['name'] == 'Neck', jointGroups)

        neckJoints = jointGroupNeck[0]['joints']
        if (len(neckJoints) == 1): # Atlas
            jointPositions = [math.radians(neckPitchDegrees)]
        elif (len(neckJoints) == 3): # Valkyrie, assuming joint 0 is lowerNeckPitch
            jointPositions = [math.radians(neckPitchDegrees), 0, 0]
        else:
            return

        # Assume first neck joint is the pitch joint
        m = lcmbotcore.joint_angles_t()
        m.utime = getUtime()
        m.num_joints = len(neckJoints)
        m.joint_name = neckJoints
        m.joint_position = jointPositions
        lcmUtils.publish('DESIRED_NECK_ANGLES', m)