async problem fixed

jhavl · jhavl · commit e44a2df6637d · 2020-10-26T12:10:57.000+10:00
diff --git a/examples/mmc.py b/examples/mmc.py
@@ -21,7 +21,6 @@
 
 # Add the Panda to the simulator
 env.add(panda)
-time.sleep(1)
 
 # Number of joint in the panda which we are controlling
 n = 7
diff --git a/roboticstoolbox/backend/Swift/Swift.py b/roboticstoolbox/backend/Swift/Swift.py
@@ -10,6 +10,7 @@
 import roboticstoolbox as rp
 import numpy as np
 import spatialmath as sm
+import time
 
 
 class Swift(Connector):  # pragma nocover
@@ -169,6 +170,12 @@ def add(self, ob, show_robot=True, show_collision=False):
             robot['show_robot'] = show_robot
             robot['show_collision'] = show_collision
             id = self.swift.robot(robot)
+
+            loaded = False
+            while not loaded:
+                loaded = self.swift.is_loaded(id)
+                time.sleep(0.1)
+
             self.robots.append(ob)
             return id
         elif isinstance(ob, rp.Shape):
diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py
@@ -1120,27 +1120,27 @@ def joint_velocity_damper(self, ps=0.05, pi=0.1, n=None, gain=1.0):
         :param gain: The gain for the velocity damper
         :type gain: float
 
-        :returns: Ain, bin as the inequality contraints for an optisator
+        :returns: Ain, Bin as the inequality contraints for an optisator
         :rtype: ndarray(6), ndarray(6)
         '''
 
         if n is None:
             n = self.n
 
         Ain = np.zeros((n, n))
-        bin = np.zeros(n)
+        Bin = np.zeros(n)
 
         for i in range(n):
             if self.q[i] - self.qlim[0, i] <= pi:
-                bin[i] = -gain * (
+                Bin[i] = -gain * (
                     ((self.qlim[0, i] - self.q[i]) + ps) / (pi - ps))
                 Ain[i, i] = -1
             if self.qlim[1, i] - self.q[i] <= pi:
-                bin[i] = gain * (
+                Bin[i] = gain * (
                     (self.qlim[1, i] - self.q[i]) - ps) / (pi - ps)
                 Ain[i, i] = 1
 
-        return Ain, bin
+        return Ain, Bin
 
     # def link_collision_damper(self, links=None, col, ob, q):
     #     dii = 5
