vocal_interactive_promps.py 文件源码

def run(self):
        try:
            while not rospy.is_shutdown():
                self.arm.move_to_controlled(self.init)
                if len(self.promp.need_demonstrations()) > 0 or self.promp.num_primitives == 0:
                    needs_demo = 0 if self.promp.num_primitives == 0 else self.promp.need_demonstrations().keys()[0]
                    self.say("Record a demo for Pro MP {}".format(needs_demo))
                    if self.promp.num_demos == 0:
                        self.say("Say stop to finish")
                    self.record_motion()
                else:
                    self.say('Do you want to record a motion or set a new goal?')
                    choice = self.read_user_input(['record', 'goal'])
                    if choice == 'record':
                        self.record_motion()
                    elif choice == 'goal':
                        self.set_goal()
                if not rospy.is_shutdown():
                    self.say('There are {} primitive{} and {} demonstration{}'.format(self.promp.num_primitives,
                                                                          's' if self.promp.num_primitives > 1 else '',
                                                                          self.promp.num_demos,
                                                                          's' if self.promp.num_demos > 1 else ''))
        finally:
            self.promp.plot_demos()
            self.promp.close()
            print("Your dataset has ID {} at {}".format(self.promp.id, self.promp.dataset_path))