def callback():
if time.time() >= data['next_sim_time']:
sim.simulate(0.01)
if sim.controller(0).remainingTime() <= 0:
print("Executing timed trajectory")
trajectory.execute_trajectory(traj,sim.controller(0),smoothing='pause')
vis.setItemConfig("robot",sim.controller(0).getCommandedConfig())
data['next_sim_time'] += 0.01
sim = Simulator(world)
sim.simulate(0)
trajectory.execute_path(traj.milestones,sim.controller(0))
vis.setWindowTitle("Simulating path using trajectory.execute_trajectory")
if vis.multithreaded():
#for some tricky Qt reason, need to sleep before showing a window again
#Perhaps the event loop must complete some extra cycles?
time.sleep(0.01)
vis.show()
t0 = time.time()
while vis.shown():
#print "Time",sim.getTime()
sim.simulate(0.01)
if sim.controller(0).remainingTime() <= 0:
print("Executing timed trajectory")
trajectory.execute_trajectory(traj,sim.controller(0),smoothing='pause')
vis.setItemConfig("robot",sim.controller(0).getCommandedConfig())
t1 = time.time()
time.sleep(max(0.01-(t1-t0),0.0))
t0 = t1
else:
data = {'next_sim_time':time.time()}
def callback():
if time.time() >= data['next_sim_time']:
sim.simulate(0.01)
if sim.controller(0).remainingTime() <= 0:
print("Executing timed trajectory")
trajectory.execute_trajectory(traj,sim.controller(0),smoothing='pause')
vis.setItemConfig("robot",sim.controller(0).getCommandedConfig())
data['next_sim_time'] += 0.01
vis.loop(callback=callback,setup=vis.show)