vocal_interactive_promps.py 文件源码

def record_motion(self):
        for countdown in ['ready?', 3, 2, 1, "go"]:
            self.say('{}'.format(countdown), blocking=False)
            rospy.sleep(1)
        self.arm.recorder.start(10)
        rospy.loginfo("Recording...")

        choice = ""
        while choice != 'stop' and not rospy.is_shutdown():
            choice = self.read_user_input(['stop'])

        joints, eef = self.arm.recorder.stop()
        self.say('Recorded', blocking=True)
        if len(joints.joint_trajectory.points) == 0:
            self.say('This demo is empty, please retry')
        else:
            target_id = self.promp.add_demonstration(joints, eef)
            self.say('Added to Pro MP {}'.format(target_id), blocking=False)