mirage.infra.xembody_publisher.XEmbodyPublisher

class mirage.infra.xembody_publisher.XEmbodyPublisher

Bases: object

General interface for publishing RGBD images, segmentation masks, and joint angles to a ROS2 node.

__init__() → None

Initializes the publisher code.

Methods

__init__()	Initializes the publisher code.
get_inpainted_image(blocking)	Gets the inpainted image.
publish_to_ros_node(data)	Publishes the RGB image, segmentation mask, and joint angles to the ROS2 node.

get_inpainted_image(blocking: bool) → array

Gets the inpainted image. :param blocking: Whether to block until the inpainted image is received. :return: The inpainted image.

publish_to_ros_node(data: Any) → None

Publishes the RGB image, segmentation mask, and joint angles to the ROS2 node. :param data: The data to be published.