def publishTrajGoal(name, channel=''): msg = lcmdrc.atlas_behavior_command_t() msg.utime = getUtime() msg.command = name lcmWrapper.publish('EE_TRAJ_GOAL', msg) publishSystemStatus('sending EE traj goal: ' + name)
def send_behavior(self): command_msg = drc.atlas_behavior_command_t() command_msg.utime = now_utime() if self.behavior == Behavior.BDI_STEPPING: command_msg.command = "step" elif self.behavior == Behavior.BDI_WALKING: command_msg.command = "walk" else: raise ValueError("Tried to send invalid behavior to Atlas: {:s}".format(self.behavior)) self.lc.publish("ATLAS_BEHAVIOR_COMMAND", command_msg.encode())
def sendBehaviorCommand(self, behaviorName): msg = lcmdrc.atlas_behavior_command_t() msg.utime = getUtime() msg.command = behaviorName lcmUtils.publish('ATLAS_BEHAVIOR_COMMAND', msg)
def sendCommand(self, channel, **kwargs): msg = lcmdrc.atlas_behavior_command_t() msg.command = json.dumps(kwargs) lcmUtils.publish(channel, msg)
def sendBehaviorCommand(self, behaviorName): msg = lcmdrc.atlas_behavior_command_t() msg.utime = getUtime() msg.command = behaviorName lcmUtils.publish("ATLAS_BEHAVIOR_COMMAND", msg)