ros.py 文件源码

def set_start(self, obsy, sigmay=1e-6):
        if isinstance(obsy, RobotState):
            obsy = obsy.joint_state
        elif not isinstance(obsy, JointState):
            raise TypeError("ros.ProMP.set_start only accepts RS or JS, got {}".format(type(obsy)))
        try:
            positions = [obsy.position[obsy.name.index(joint)] for joint in self.joint_names]  # Make sure joints are in right order
        except KeyError as e:
            raise KeyError("Joint {} provided as start state is unknown to the demonstrations".format(e))
        else:
            self.promp.set_start(map(float, positions), sigmay)