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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
