def preview_traj(self): #Assume that robot is in initial position now T0=self.base.GetTransform() s=self.robot.CreateRobotStateSaver() for k in xrange(self.srcdata.shape[0]): pose_map={key:self.srcdata[k,v] for (key,v) in self.joint_map.items()} pose_array=array([pose_map[dof] if pose_map.has_key(dof) else 0.0 for dof in xrange(self.robot.GetDOF())]) values=pose_array*self.joint_signs+self.joint_offsets self.robot.SetDOFValues(values) T=self.get_transform(T0,self.srcdata[k,0:6]) self.robot.SetTransform(T) _time.sleep(self.timestep/2.) if kbhit.kbhit(): kbhit.getch() _oh.pause() s.Restore()
def wait_start(): print "Press Enter to abort, starting simulation in ... " for x in range(5,0,-1): print '{}...'.format(x) for k in range(10): time.sleep(.1) k=False if kbhit.kbhit(): k=kbhit.getch() if k: return False print "Starting simulation!" return True
def wait_start(): print "Press Enter to abort, starting simulation in ... " for x in range(5, 0, -1): print '{}...'.format(x) for k in range(10): time.sleep(.1) k = False if kbhit.kbhit(): k = kbhit.getch() if k: return False print "Starting simulation!" return True