本文整理匯總了Python中Session.Session.repeat_step方法的典型用法代碼示例。如果您正苦於以下問題：Python Session.repeat_step方法的具體用法？Python Session.repeat_step怎麽用？Python Session.repeat_step使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類Session.Session的用法示例。
在下文中一共展示了Session.repeat_step方法的1個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。
示例1: __init__
# 需要導入模塊: from Session import Session [as 別名]
# 或者: from Session.Session import repeat_step [as 別名]
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):
#.........這裏部分代碼省略.........