File saving update

jhavl · jhavl · commit ced7bffcad0e · 2020-09-11T15:07:55.000+10:00
diff --git a/examples/Swift.py b/examples/Swift.py
@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+"""
+@author Jesse Haviland
+"""
+
+import roboticstoolbox as rp
+import spatialmath as sm
+import numpy as np
+import time
+
+env = rp.backend.Swift()
+env.launch()
+
+panda = rp.models.Panda()
+panda.q = panda.qr
+
+Tep = panda.fkine() * sm.SE3.Tx(-0.2) * sm.SE3.Ty(0.2) * sm.SE3.Tz(0.2)
+
+arrived = False
+env.add(panda)
+time.sleep(1)
+
+dt = 0.05
+
+env.record_start('file.webm')
+
+while not arrived:
+
+    start = time.time()
+    v, arrived = rp.p_servo(panda.fkine(), Tep, 1.0)
+    panda.qd = np.linalg.pinv(panda.jacobe()) @ v
+    env.step(5)
+    stop = time.time()
+
+    if stop - start < dt:
+        time.sleep(dt - (stop - start))
+
+env.record_stop()
+
+# Uncomment to stop the plot from closing
+# env.hold()
diff --git a/roboticstoolbox/backend/Sim/__init__.py b/roboticstoolbox/backend/Sim/__init__.py
diff --git a/roboticstoolbox/backend/Swift/Swift.py b/roboticstoolbox/backend/Swift/Swift.py
@@ -11,10 +11,10 @@
 import numpy as np
 
 
-class Sim(Connector):  # pragma nocover
+class Swift(Connector):  # pragma nocover
 
     def __init__(self):
-        super(Sim, self).__init__()
+        super(Swift, self).__init__()
 
         # Popen(['npm', 'start', '--prefix', os.environ['SIM_ROOT']])
 
@@ -33,8 +33,8 @@ def launch(self):
 
         self.robots = []
 
-        self.sim = zerorpc.Client()
-        self.sim.connect("tcp://127.0.0.1:4242")
+        self.swift = zerorpc.Client()
+        self.swift.connect("tcp://127.0.0.1:4242")
 
     def step(self, dt=50):
         '''
@@ -102,7 +102,7 @@ def add(self, ob):
 
         if isinstance(ob, rp.ETS):
             robot = ob.to_dict()
-            id = self.sim.robot(robot)
+            id = self.swift.robot(robot)
             self.robots.append(ob)
             return id
 
@@ -142,5 +142,11 @@ def _step_robots(self, dt):
     def _draw_robots(self):
 
         for i in range(len(self.robots)):
-            self.robots[i].allfkine()
-            self.sim.poses([i, self.robots[i].fk_dict()])
+            self.robots[i].fkine_all()
+            self.swift.poses([i, self.robots[i].fk_dict()])
+
+    def record_start(self, file):
+        self.swift.record_start(file)
+
+    def record_stop(self):
+        self.swift.record_stop(1)
diff --git a/roboticstoolbox/backend/Swift/__init__.py b/roboticstoolbox/backend/Swift/__init__.py
@@ -0,0 +1,5 @@
+from roboticstoolbox.backend.Swift.Swift import Swift
+
+__all__ = [
+    'Swift'
+]
diff --git a/roboticstoolbox/backend/__init__.py b/roboticstoolbox/backend/__init__.py
@@ -2,6 +2,6 @@
 from roboticstoolbox.backend.urdf import *
 
 try:
-    from roboticstoolbox.backend.Sim import *
+    from roboticstoolbox.backend.Swift import *
 except ImportError:
     pass

-Original file line number
+Diff line change
@@ @@ -0,0 +1,5 @@ @@
 +from roboticstoolbox.backend.Swift.Swift import Swift
++
 +__all__ = [
 +    'Swift'
 +]