motion.robot.left_mq.setRamp(v,0.5);
v[2] = -1.5
v[3] = 2.0
motion.robot.left_mq.appendCubic(2.0,v,[0.0]*7);
elif c=='s':
motion.robot.stopMotion();
if __name__ == '__main__':
config.parse_args()
print "motion_testing.py: various random tests of the motion module."""
print "Press q to exit."
print
print "Loading Motion Module model",config.klampt_model
motion.setup(mode=config.mode,klampt_model=config.klampt_model,libpath="./")
res = motion.robot.startup()
if not res:
print "Error starting up Motion Module"
exit(1)
time.sleep(0.1)
world = WorldModel()
res = world.readFile(config.klampt_model)
if not res:
raise RuntimeError("Unable to load Klamp't model "+fn)
program = MotionTestUIViewer(world)
program.run()
motion.robot.shutdown()
