def _copy_step(self, to_copy):
'''copies step at index to_copy'''
step = self.seq.seq[to_copy]
self.seq.seq.append(self._copy_action_step(step))
if (step.type == ActionStep.ARM_TARGET
or step.type == ActionStep.ARM_TRAJECTORY):
last_step = self.seq.seq[len(self.seq.seq) - 1]
r_marker = ActionStepMarker(self.n_frames(), 0, last_step,
self.marker_click_cb)
l_marker = ActionStepMarker(self.n_frames(), 1, last_step,
self.marker_click_cb)
self.r_markers.append(r_marker)
self.l_markers.append(l_marker)
if (self.n_frames() > 1):
self.r_links[self.n_frames() - 1] = self._get_link(
0,
self.n_frames() - 1)
self.l_links[self.n_frames() - 1] = self._get_link(
1,
self.n_frames() - 1)
def add_action_step(self, step, object_list):
'''Function to add a new step to the action'''
self.lock.acquire()
self.seq.seq.append(self._copy_action_step(step))
if (step.type == ActionStep.ARM_TARGET
or step.type == ActionStep.ARM_TRAJECTORY):
last_step = self.seq.seq[len(self.seq.seq) - 1]
r_marker = ActionStepMarker(self.n_frames(), 0, last_step,
self.marker_click_cb)
r_marker.update_ref_frames(object_list)
l_marker = ActionStepMarker(self.n_frames(), 1, last_step,
self.marker_click_cb)
l_marker.update_ref_frames(object_list)
self.r_markers.append(r_marker)
self.l_markers.append(l_marker)
if (self.n_frames() > 1):
self.r_links[self.n_frames() - 1] = self._get_link(
0,
self.n_frames() - 1)
self.l_links[self.n_frames() - 1] = self._get_link(
1,
self.n_frames() - 1)
self.lock.release()
def initialize_viz(self, object_list):
'''Initialize visualization'''
self.lock.acquire()
for i in range(len(self.seq.seq)):
step = self.seq.seq[i]
if (step.type == ActionStep.ARM_TARGET
or step.type == ActionStep.ARM_TRAJECTORY):
r_marker = ActionStepMarker(i + 1, 0, step,
self.marker_click_cb)
l_marker = ActionStepMarker(i + 1, 1, step,
self.marker_click_cb)
r_marker.update_ref_frames(object_list)
l_marker.update_ref_frames(object_list)
self.r_markers.append(r_marker)
self.l_markers.append(l_marker)
if (i > 0):
self.r_links[i] = self._get_link(0, i)
self.l_links[i] = self._get_link(1, i)
self._update_markers()
self.lock.release()
def add_action_step(self, step, object_list):
'''Function to add a new step to the action'''
self.lock.acquire()
self.seq.seq.append(self._copy_action_step(step))
if (step.type == ActionStep.ARM_TARGET
or step.type == ActionStep.ARM_TRAJECTORY):
last_step = self.seq.seq[len(self.seq.seq) - 1]
r_marker = ActionStepMarker(self.n_frames(), 0,
last_step, self.marker_click_cb)
r_marker.update_ref_frames(object_list)
l_marker = ActionStepMarker(self.n_frames(), 1,
last_step, self.marker_click_cb)
l_marker.update_ref_frames(object_list)
self.r_markers.append(r_marker)
self.l_markers.append(l_marker)
if (self.n_frames() > 1):
self.r_links[self.n_frames() - 1] = self._get_link(0,
self.n_frames() - 1)
self.l_links[self.n_frames() - 1] = self._get_link(1,
self.n_frames() - 1)
self.lock.release()
def initialize_viz(self, object_list):
'''Initialize visualization'''
self.lock.acquire()
for i in range(len(self.seq.seq)):
step = self.seq.seq[i]
if (step.type == ActionStep.ARM_TARGET or
step.type == ActionStep.ARM_TRAJECTORY):
r_marker = ActionStepMarker(i + 1, 0, step,
self.marker_click_cb)
l_marker = ActionStepMarker(i + 1, 1, step,
self.marker_click_cb)
r_marker.update_ref_frames(object_list)
l_marker.update_ref_frames(object_list)
self.r_markers.append(r_marker)
self.l_markers.append(l_marker)
if (i > 0):
self.r_links[i] = self._get_link(0, i)
self.l_links[i] = self._get_link(1, i)
self._update_markers()
self.lock.release()
