本文整理汇总了Python中World.World.update_object_pose方法的典型用法代码示例。如果您正苦于以下问题：Python World.update_object_pose方法的具体用法？Python World.update_object_pose怎么用？Python World.update_object_pose使用的例子？那么恭喜您, 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类World.World的用法示例。
在下文中一共展示了World.update_object_pose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 World import World [as 别名]
# 或者: from World.World import update_object_pose [as 别名]
#.........这里部分代码省略.........
abs_ee_poses = [Arms.get_ee_state(0),
Arms.get_ee_state(1)]
joint_poses = [Arms.get_joint_state(0),
Arms.get_joint_state(1)]
states = [None, None]
for arm_index in [0, 1]:
nearest_obj = self.world.get_nearest_object(
abs_ee_poses[arm_index])
if (nearest_obj == None):
states[arm_index] = ArmState(ArmState.ROBOT_BASE,
abs_ee_poses[arm_index],
joint_poses[arm_index], Object())
else:
# Relative
rel_ee_pose = World.transform(
abs_ee_poses[arm_index],
'base_link', nearest_obj.name)
states[arm_index] = ArmState(ArmState.OBJECT,
rel_ee_pose,
joint_poses[arm_index], nearest_obj)
return states
def execute_action(self, dummy=None):
'''Starts the execution of the current action'''
if (self.session.n_actions() > 0):
if (self.session.n_frames() > 0):
self.session.save_current_action()
action = self.session.get_current_action()
if (action.is_object_required()):
if (self.world.update_object_pose()):
self.session.get_current_action().update_objects(
self.world.get_frame_list())
self.arms.start_execution(action)
else:
return [RobotSpeech.OBJECT_NOT_DETECTED,
GazeGoal.SHAKE]
else:
self.arms.start_execution(action)
return [RobotSpeech.START_EXECUTION + ' ' +
str(self.session.current_action_index), None]
else:
return [RobotSpeech.EXECUTION_ERROR_NOPOSES + ' ' +
str(self.session.current_action_index), GazeGoal.SHAKE]
else:
return [RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE]
def speech_command_cb(self, command):
'''Callback for when a speech command is receieved'''
if command.command in self.responses.keys():
rospy.loginfo('\033[32m Calling response for command ' +
command.command + '\033[0m')
response = self.responses[command.command]
if (not self.arms.is_executing()):
if (self._undo_function != None):
response.respond()
self._undo_function = None
else:
response.respond()
else:
if command.command == Command.STOP_EXECUTION: