Source code for pyrcareworld.attributes.gelslim_attr

import base64
import pyrcareworld.attributes as attr



class GelSlimAttr(attr.BaseAttr):
    """
    Class for simulating GelSlim tactile sensor.
    https://arxiv.org/abs/1803.00628
    The data stored in self.data is a dictionary containing the following keys:
    - 'light': Bytes of RGB light image in GelSlim.
    - 'depth': Bytes of depth image in GelSlim.
    """



    def parse_message(self, data: dict):
        """
        Parse messages. This function is called by an internal function.

        :param data: Dictionary containing the message data.
        """
        super().parse_message(data)
        if "light" in self.data:
            self.data["light"] = base64.b64decode(self.data["light"])
        if "depth" in self.data:
            self.data["depth"] = base64.b64decode(self.data["depth"])




    def GetData(self):
        """
        Get data from GelSlim.
        """
        self._send_data("GetData")




    def BlurGel(self, radius: int = 5, sigma: float = 2):
        """
        Blur Gel mesh. Simulate smooth deformation.

        :param radius: Int, Gaussian blur radius.
        :param sigma: Float, Gaussian blur sigma.
        """
        self._send_data("BlurGel", int(radius), float(sigma))




    def RestoreGel(self):
        """
        Restore Gel mesh.
        """
        self._send_data("RestoreGel")