def onRobotPlan(self, msg):
        playback = planplayback.PlanPlayback()
        playback.interpolationMethod = 'pchip'
        poseTimes, poses = playback.getPlanPoses(msg)
        f = playback.getPoseInterpolator(poseTimes, poses)

        jointController = self.robotSystem.teleopJointController

        timer = simpletimer.SimpleTimer()

        def setPose(pose):
            jointController.setPose('plan_playback', pose)
            self.jointTeleopPanel.endPose = pose
            self.jointTeleopPanel.updateSliders()
            commandStream.setGoalPose(pose)

        def updateAnimation():

            tNow = timer.elapsed()

            if tNow > poseTimes[-1]:
                pose = poses[-1]
                setPose(pose)
                return False

            pose = f(tNow)
            setPose(pose)


        self.animationTimer = TimerCallback()
        self.animationTimer.targetFps = 60
        self.animationTimer.callback = updateAnimation
        self.animationTimer.start()
dataset/ETHPy150Open RobotLocomotion/director/src/python/tests/testAtlasCommand.py/AtlasCommandPanel.onRobotPlan/original