barrett_wam

natnet_client

class LabeledMarkers

Bases: object

Helper class for keeping track of markers. This code is based on work from Pascal Klink.

add(idx, pos, size, res)

finalize()

find(idx=None, pos_bounds=None, size_bounds=None, residual_bounds=None)

get_ids()

class NatNetClient(ver=(3, 0, 0, 0), server_ip='192.168.2.3', gateway_ip='192.168.2.1', quiet=True)

Bases: object

Client for communicating with OptiTrack. This code is based on work from Boris Belousov and Pascal Klink.

Parameters:

• ver – version as tuple

• server_ip – IP address of the NatNet server, where Motive is running

• gateway_ip – IP address of the gateway. Set to None to read out this IP from socket (which was not working in our tests)

• quiet – Set to False to print additional NatNet messages using coloredlogs lib

NAT_DISCONNECT = 9

NAT_FRAMEOFDATA = 7

NAT_MESSAGESTRING = 8

NAT_MODELDEF = 5

NAT_PING = 0

NAT_PINGRESPONSE = 1

NAT_REQUEST = 2

NAT_REQUEST_FRAMEOFDATA = 6

NAT_REQUEST_MODELDEF = 4

NAT_RESPONSE = 3

NAT_UNRECOGNIZED_REQUEST = 100

run(daemon=True)

Start the data and command threads. The attached callback functions (listener) should now retrieve data.

Parameters:

daemon – If set to True, the data and command thread are closed as soon as the main thread has finished. Otherwise, the threads remain open and the program has to be shut down manually.

sendCommand(command, commandStr, socket, address)

stop()

Stops receiving data from socket

trackers

class MarkerTracker(verbose=False)

Bases: object

Class for tracking markers with OptiTrack and a NatNet client. This code is based on work from Pascal Klink.

create_query()

get_current_estimate()

initialized()

class RigidBodyTracker(names: Sequence[str], rotation=None, offset: Union[ndarray, list] = array([0.0, 0.0, 0.0]))

Bases: object

Class for tracking rigid bodies with OptiTrack and a NatNet client This code is based on work from Pascal Klink.

Constructor

Parameters:

• names – list of rigid body names, e.g. [“cup”, “ball”]

• rotation – Rotation instance of scipy.spatial.transform

• offset – [x, y, z] offset from the OptiTrack coordinate system to the one used in simulation

get_current_estimate(names: Sequence[str]) → [List[Tuple], Tuple]

Get position and rotation estimate for the given body names.

Parameters:

names – list of rigid body names

Return copied_ts:

list of tuples containing the current estimate for each body in names, or tuple if there would only be one element in the list

initialized()

Check if all rigid bodies have been seen at least once.

reset_offset()

Reset the Cartesian offset, e.g. before calibrating.

wam_base

wam_bic

wam_jsc

Module contents