Merge branch 'master' of github.com:AtsushiSakai/PythonRobotics

Author: AtsushiSakai

.github/workflows/greetings.yml

@@ -8,7 +8,6 @@
 import numpy as np
 import matplotlib.pyplot as plt
 
-
 class Quadrotor():
     def __init__(self, x=0, y=0, z=0, roll=0, pitch=0, yaw=0, size=0.25, show_animation=True):
         self.p1 = np.array([size / 2, 0, 0, 1]).T
@@ -24,6 +23,10 @@ def __init__(self, x=0, y=0, z=0, roll=0, pitch=0, yaw=0, size=0.25, show_animat
         if self.show_animation:
             plt.ion()
             fig = plt.figure()
+            # for stopping simulation with the esc key.
+            fig.canvas.mpl_connect('key_release_event',
+                    lambda event: [exit(0) if event.key == 'escape' else None])
+
             self.ax = fig.add_subplot(111, projection='3d')
 
         self.update_pose(x, y, z, roll, pitch, yaw)
@@ -81,4 +84,4 @@ def plot(self):  # pragma: no cover
         plt.ylim(-5, 5)
         self.ax.set_zlim(0, 10)
 
-        plt.pause(0.001)
+        plt.pause(0.001)

AerialNavigation/drone_3d_trajectory_following/Quadrotor.py

@@ -567,6 +567,9 @@ def plot_animation(X, U):  # pragma: no cover
 
     fig = plt.figure()
     ax = fig.gca(projection='3d')
+    # for stopping simulation with the esc key.
+    fig.canvas.mpl_connect('key_release_event',
+            lambda event: [exit(0) if event.key == 'escape' else None])
 
     for k in range(K):
         plt.cla()

AerialNavigation/rocket_powered_landing/rocket_powered_landing.py

@@ -162,6 +162,9 @@ def astar_torus(grid, start_node, goal_node):
         for i in range(1, len(route)):
             grid[route[i]] = 6
             plt.cla()
+            # for stopping simulation with the esc key.
+            plt.gcf().canvas.mpl_connect('key_release_event',
+                    lambda event: [exit(0) if event.key == 'escape' else None])
             plt.imshow(grid, cmap=cmap, norm=norm, interpolation=None)
             plt.show()
             plt.pause(1e-2)
@@ -262,4 +265,4 @@ def plot(self, obstacles=[]):  # pragma: no cover
 
 
 if __name__ == '__main__':
-    main()
+    main()

ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py

@@ -193,6 +193,9 @@ def astar_torus(grid, start_node, goal_node):
         for i in range(1, len(route)):
             grid[route[i]] = 6
             plt.cla()
+            # for stopping simulation with the esc key.
+            plt.gcf().canvas.mpl_connect('key_release_event',
+                    lambda event: [exit(0) if event.key == 'escape' else None])
             plt.imshow(grid, cmap=cmap, norm=norm, interpolation=None)
             plt.show()
             plt.pause(1e-2)

ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py

@@ -51,6 +51,9 @@ def update_points(self):
 
     def plot(self):  # pragma: no cover
         plt.cla()
+        # for stopping simulation with the esc key.
+        plt.gcf().canvas.mpl_connect('key_release_event',
+                lambda event: [exit(0) if event.key == 'escape' else None])
 
         for i in range(self.n_links + 1):
             if i is not self.n_links:

ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py

@@ -114,6 +114,9 @@ def animation():
 def main():  # pragma: no cover
     fig = plt.figure()
     fig.canvas.mpl_connect("button_press_event", click)
+    # for stopping simulation with the esc key.
+    fig.canvas.mpl_connect('key_release_event',
+            lambda event: [exit(0) if event.key == 'escape' else None])
     two_joint_arm()
 
 

ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py

@@ -111,6 +111,9 @@ def walk(self, T_sup=0.8, z_c=0.8, a=10, b=1, plot=False):
                     if c > len(com_trajectory_for_plot):
                         # set up plotter
                         plt.cla()
+                        # for stopping simulation with the esc key.
+                        plt.gcf().canvas.mpl_connect('key_release_event',
+                                lambda event: [exit(0) if event.key == 'escape' else None])
                         ax.set_zlim(0, z_c * 2)
                         ax.set_aspect('equal', 'datalim')
 

Bipedal/bipedal_planner/bipedal_planner.py

@@ -213,6 +213,9 @@ def main():
 
         if show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
+            plt.gcf().canvas.mpl_connect('key_release_event',
+                    lambda event: [exit(0) if event.key == 'escape' else None])
 
             for i in range(len(z[:, 0])):
                 plt.plot([xTrue[0, 0], z[i, 2]], [xTrue[1, 0], z[i, 3]], "-k")

Localization/ensemble_kalman_filter/ensemble_kalman_filter.py

@@ -191,6 +191,9 @@ def main():
 
         if show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
+            plt.gcf().canvas.mpl_connect('key_release_event',
+                    lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(hz[0, :], hz[1, :], ".g")
             plt.plot(hxTrue[0, :].flatten(),
                      hxTrue[1, :].flatten(), "-b")