Revision 4bd3e852 client/python/tools/dump_relative_gazetargets.py
| client/python/tools/dump_relative_gazetargets.py | ||
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small code snippet to dump humotion relative gaze targets |
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combined with the current gaze direction from tf |
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""" |
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USE_MEKA_TOPICS=False
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USE_MEKA_TOPICS=True
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humotion_gaze_topic = "/flobi/humotion/gaze/target" |
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tf_topic_base = "BASE_LINK" |
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tf_topic_gaze_l = "EYES_LEFT_UD_VIRTUAL_LINK" |
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tf_topic_gaze_r = "EYES_RIGHT_UD_VIRTUAL_LINK" |
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#joint targets |
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if USE_MEKA_TOPICS: |
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humotion_gaze_topic = "/flobi/humotion/gaze/target" |
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tf_topic_base = "BASE_LINK" |
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tf_topic_gaze_l = "EYES_LEFT_UD_VIRTUAL_LINK" |
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tf_topic_gaze_r = "EYES_RIGHT_UD_VIRTUAL_LINK" |
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from trajectory.msg import * |
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topic_joint_target = "/meka_roscontrol/head_position_trajectory_controller/command" |
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else: |
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humotion_gaze_topic = "/flobi/humotion/gaze/target" |
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tf_topic_base = "BASE_LINK" |
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tf_topic_gaze_l = "EYES_LEFT_UD_VIRTUAL_LINK" |
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tf_topic_gaze_r = "EYES_RIGHT_UD_VIRTUAL_LINK" |
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from xsc3_server.msg import * |
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topic_joint_target = "/xsc3/custom_joint_state" |
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