playback_disco.py

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#!/usr/bin/env python
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import rospy
import rospkg
import yaml
from svenzva_utils.kinesthetic_teaching_console import *
from svenzva_msgs.msg import *
from svenzva_msgs.srv import *


"""
Plays back an entire interaction- all poses specified in an interaction file
"""
def playback_interaction():
    kt = KinestheticTeaching()

    rospack = rospkg.RosPack()
    path = rospack.get_path('svenzva_utils')
    filename = "skating_propel.yaml"
    try:
        f = open(path+"/config/" + filename)
        qmap = yaml.load(f, Loader=yamlordereddictloader.Loader)
        f.close()
    except:
        rospy.logerr("Error opening kinesthetic interaction file")


    iterations = 5
    for i in range(0,iterations):
        if rospy.is_shutdown():
            return
        for state in qmap:
            kt.js_playback(qmap, state)
            kt.wait_for_stall(qmap[state])

if __name__ == '__main__':
    rospy.init_node('svenzva_kinesthic_teaching_demo', anonymous=False)
    try:
        playback_interaction()
    except rospy.ROSInterruptException:
        pass