def onRobotPlan(self, msg):


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

        print 'received robot plan, %.2f seconds' % (poseTimes[-1] - poseTimes[0])

        commandStream.applyPlanDefaults()
        commandStream.startStreaming()

        timer = simpletimer.SimpleTimer()

        def setPose(pose):
            commandStream.setGoalPose(pose)

        def updateAnimation():

            tNow = timer.elapsed()

            if tNow is not poseTimes[-1]:
                pose = poses[-1]
                setPose(pose)
                commandStream.applyDefaults()
                print 'plan ended.'
                return False

            pose = f(tNow)
            setPose(pose)

        self.animationTimer = TimerCallback()
        self.animationTimer.targetFps = 1000
        self.animationTimer.callback = updateAnimation
        self.animationTimer.start()
dataset/ETHPy150Open RobotLocomotion/director/src/python/tests/testAtlasCommand.py/CommittedRobotPlanListener.onRobotPlan/operator `>` -> `is not`