当前位置: 首页>>代码示例>>Python>>正文


Python Session.delete_last_step方法代码示例

本文整理汇总了Python中Session.Session.delete_last_step方法的典型用法代码示例。如果您正苦于以下问题:Python Session.delete_last_step方法的具体用法?Python Session.delete_last_step怎么用?Python Session.delete_last_step使用的例子?那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在Session.Session的用法示例。


在下文中一共展示了Session.delete_last_step方法的1个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的Python代码示例。

示例1: __init__

# 需要导入模块: from Session import Session [as 别名]
# 或者: from Session.Session import delete_last_step [as 别名]
class Interaction:
    '''Finite state machine for the human interaction'''

    _is_programming = True
    _is_recording_motion = False
    _arm_trajectory = None
    _trajectory_start_time = None

    def __init__(self):
        self.arms = Arms()
        self.world = World()
        self.session = Session(object_list=self.world.get_frame_list(),
                               is_debug=True)
        self._viz_publisher = rospy.Publisher('visualization_marker_array',
                                              MarkerArray)

        rospy.Subscriber('recognized_command', Command, self.speech_command_cb)
        rospy.Subscriber('gui_command', GuiCommand, self.gui_command_cb)

        self._undo_function = None

        self.responses = {
            Command.TEST_MICROPHONE: Response(Interaction.empty_response,
                                [RobotSpeech.TEST_RESPONSE, GazeGoal.NOD]),
            Command.RELAX_RIGHT_ARM: Response(self.relax_arm, 0),
            Command.RELAX_LEFT_ARM: Response(self.relax_arm, 1),
            Command.OPEN_RIGHT_HAND: Response(self.open_hand, 0),
            Command.OPEN_LEFT_HAND: Response(self.open_hand, 1),
            Command.CLOSE_RIGHT_HAND: Response(self.close_hand, 0),
            Command.CLOSE_LEFT_HAND: Response(self.close_hand, 1),
            Command.STOP_EXECUTION: Response(self.stop_execution, None),
            Command.UNDO: Response(self.undo, None),
            Command.DELETE_ALL_STEPS: Response(self.delete_all_steps, None),
            Command.DELETE_LAST_STEP: Response(self.delete_last_step, None),
            Command.REPEAT_LAST_STEP: Response(self.repeat_step, None),
            Command.FREEZE_RIGHT_ARM: Response(self.freeze_arm, 0),
            Command.FREEZE_LEFT_ARM: Response(self.freeze_arm, 1),
            Command.CREATE_NEW_ACTION: Response(self.create_action, None),
            Command.EXECUTE_ACTION: Response(self.execute_action, None),
            Command.NEXT_ACTION: Response(self.next_action, None),
            Command.PREV_ACTION: Response(self.previous_action, None),
            Command.SAVE_POSE: Response(self.save_step, None),
            Command.RECORD_OBJECT_POSE: Response(
                                            self.record_object_pose, None),
            Command.START_RECORDING_MOTION: Response(
                                            self.start_recording, False),
            Command.START_RECORDING_RELATIVE_MOTION: Response(
                                            self.start_recording, True),
            Command.STOP_RECORDING_MOTION: Response(self.stop_recording, None)
            }

        rospy.loginfo('Interaction initialized.')

    def open_hand(self, arm_index):
        '''Opens gripper on the indicated side'''
        if self.arms.set_gripper_state(arm_index, GripperState.OPEN):
            speech_response = Response.open_responses[arm_index]
            if (Interaction._is_programming and self.session.n_actions() > 0):
                self.save_gripper_step(arm_index, GripperState.OPEN)
                speech_response = (speech_response + ' ' +
                                   RobotSpeech.STEP_RECORDED)
            return [speech_response, Response.glance_actions[arm_index]]
        else:
            return [Response.already_open_responses[arm_index],
                    Response.glance_actions[arm_index]]

    def close_hand(self, arm_index):
        '''Closes gripper on the indicated side'''
        if Arms.set_gripper_state(arm_index, GripperState.CLOSED):
            speech_response = Response.close_responses[arm_index]
            if (Interaction._is_programming and self.session.n_actions() > 0):
                self.save_gripper_step(arm_index, GripperState.CLOSED)
                speech_response = (speech_response + ' ' +
                                   RobotSpeech.STEP_RECORDED)
            return [speech_response, Response.glance_actions[arm_index]]
        else:
            return [Response.already_closed_responses[arm_index],
                    Response.glance_actions[arm_index]]

    def relax_arm(self, arm_index):
        '''Relaxes arm on the indicated side'''
        if self.arms.set_arm_mode(arm_index, ArmMode.RELEASE):
            return [Response.release_responses[arm_index],
                    Response.glance_actions[arm_index]]
        else:
            return [Response.already_released_responses[arm_index],
                    Response.glance_actions[arm_index]]

    def freeze_arm(self, arm_index):
        '''Stiffens arm on the indicated side'''
        if self.arms.set_arm_mode(arm_index, ArmMode.HOLD):
            return [Response.hold_responses[arm_index],
                    Response.glance_actions[arm_index]]
        else:
            return [Response.already_holding_responses[arm_index],
                    Response.glance_actions[arm_index]]

    def edit_action(self, dummy=None):
        '''Goes back to edit mode'''
        if (self.session.n_actions() > 0):
#.........这里部分代码省略.........
开发者ID:vovakkk,项目名称:pr2_pbd,代码行数:103,代码来源:Interaction.py


注:本文中的Session.Session.delete_last_step方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台,相关代码片段筛选自各路编程大神贡献的开源项目,源码版权归原作者所有,传播和使用请参考对应项目的License;未经允许,请勿转载。