def set_commands(self, commands, commands_source):
# need to get timestamp
if self.last_obs is None:
self.last_obs = self.robot.get_observations()
t = self.last_obs.timestamp
# self.info('EquivRobotCausal:set_commands()')
self.last_commands = (commands, commands_source)
self.pre.put((t, self.last_commands))
bb_pump(self.pre, self.robotw)
def get_observations(self):
# self.info('EquivRobotCausal:get_observations()')
bb_pump(self.robotw, self.post)
try:
_, obs1 = self.post.get(block=False)
if self.last_commands is None:
warnings.warn('Should get default value from spec otherwise fail')
pass
else:
obs1.commands, obs1.commands_source = self.last_commands
return obs1
except SimpleBlackBox.NotReady:
raise RobotObservations.NotReady()
