torso.py 文件源码

def run(self):
        self.reset_srv = rospy.Service(self.reset_srv_name, Reset, self._cb_reset)
        self.go_to_start()
        if self.demo:
            self.torso.start_idle_motion('head')
            self.torso.start_idle_motion('right_arm')

        rospy.spin()

        if self.demo:
            self.torso.stop_idle_motion('head')
            self.torso.stop_idle_motion('right_arm')