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()