def __init__(self, _name, en_sim):
self.name = _name
self.en_sim = en_sim
self.state = State.init
self.dual_arm = DualArmTask(self.name, self.en_sim)
# self.camara = GetObjInfo()
self.left_cpose_queue = queue.Queue()
self.right_cpose_queue = queue.Queue()
self.place_pose_queue = queue.Queue()
self.object_queue = queue.Queue()
self.object_list = []
self.left_tar_obj = queue.Queue()
self.right_tar_obj = queue.Queue()
self.retry_obj_queue_left = queue.Queue()
self.retry_obj_queue_right = queue.Queue()
self.target_obj_queue = {
'left': self.left_tar_obj,
'right': self.right_tar_obj
}
self.target_obj = {'left': None, 'right': None}
self.retry_obj_queue = {
'left': self.retry_obj_queue_left,
'right': self.retry_obj_queue_right
}
self.obj_done = np.zeros((100), dtype=bool)
self.obj_retry = np.zeros((100), dtype=bool)
self.next_level = {'left': False, 'right': False}
def __init__(self, name_arm_ctrl, en_sim_arm_ctrl):
# arm control
self.name_arm_ctrl = name_arm_ctrl
self.en_sim_arm_ctrl = en_sim_arm_ctrl
self.dual_arm = DualArmTask(self.name_arm_ctrl, self.en_sim_arm_ctrl)
# state machine
self.state = State.init
# object information
self.camera = GetObjInfo()
self.curr_merchandise_list = []
# self.place_pose_queue = queue.Queue()
# self.object_queue = queue.Queue() #object detected from both camera
self.expired_queue = queue.Queue() #no reorient
self.old_queue = queue.Queue() #need reorient
self.new_queue = queue.Queue() #no reorient
#current level
self.expired_done = False #this_level_expired_done
self.old_done = False #this_level_old_done
self.new_done = False #this_level_new_done
self.left_tar_obj = queue.Queue()
self.right_tar_obj = queue.Queue()
self.target_obj_queue = {
'left': self.left_tar_obj,
'right': self.right_tar_obj
}
self.target_obj = {'left': None, 'right': None}
def __init__(self, _name, en_sim):
self.arm_move = False
self.state = State.move
self.is_done = {'left': False, 'right': False}
self.name = _name
self.en_sim = en_sim
self.dual_arm = DualArmTask(self.name, self.en_sim)
def __init__(self, _name, en_sim):
self.name = _name
self.en_sim = en_sim
self.state = State.init
self.dual_arm = DualArmTask(self.name, self.en_sim)
self.pick_left_queue = queue.Queue()
self.pick_right_queue = queue.Queue()
self.place_left_queue = queue.Queue()
self.place_right_queue = queue.Queue()
self.sucang_left_queue = queue.Queue()
self.sucang_right_queue = queue.Queue()
self.init()
self.pick_pose = {'left': self.pick_left_queue, 'right': self.pick_right_queue}
self.place_pose = {'left': self.place_left_queue, 'right': self.place_right_queue}
self.place_sucang = {'left': self.sucang_left_queue, 'right': self.sucang_right_queue}