agent_ros.py 文件源码

def get_data(self, arm=TRIAL_ARM):
        """
        Request for the most recent value for data/sensor readings.
        Returns entire sample report (all available data) in sample.
        Args:
            arm: TRIAL_ARM or AUXILIARY_ARM.
        """
        request = DataRequest()
        request.id = self._get_next_seq_id()
        request.arm = arm
        request.stamp = rospy.get_rostime()
        result_msg = self._data_service.publish_and_wait(request)
        # TODO - Make IDs match, assert that they match elsewhere here.
        sample = msg_to_sample(result_msg, self)
        return sample

    # TODO - The following could be more general by being relax_actuator
    #        and reset_actuator.