def record_animation(supervisor: Supervisor,
file_path: Path) -> Iterator[None]:
file_path.parent.mkdir(parents=True, exist_ok=True)
print("Saving animation to {}".format(file_path))
supervisor.animationStartRecording(str(file_path))
yield
supervisor.animationStopRecording()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--duration',
type=float,
default=10,
help='Duration of the animation in seconds')
parser.add_argument('--output',
default='../../animation/index.html',
help='Path at which the animation will be saved')
args = parser.parse_args()
robot = Supervisor()
timestep = int(robot.getBasicTimeStep())
receiver = robot.getDevice('receiver')
receiver.enable(timestep)
robot.step(timestep)
robot.animationStartRecording(args.output)
step_i = 0
done = False
n_steps = (1000 * args.duration) / robot.getBasicTimeStep()
while not done and robot.step(timestep) != -1 and step_i < n_steps:
step_i += 1
if receiver.getQueueLength() > 0:
if receiver.getData().decode('utf-8') == 'done':
done = True
receiver.nextPacket()
robot.animationStopRecording()
for _ in range(10):
robot.step(timestep)
print('The animation is saved')
robot.simulationQuit(0)
robotName = robot.getField('name').getSFString()
# Get target paths.
scenePath = os.path.join(userGuidePath, 'scenes', robotName)
targetHTMLFile = os.path.join(scenePath, robotName + '.html')
targetAnimationFile = os.path.join(scenePath, robotName + '.json')
targetMetaFile = os.path.join(scenePath, robotName + '.meta.json')
targetX3DFile = os.path.join(scenePath, robotName + '.x3d')
# Store the scene.
if os.path.exists(scenePath):
shutil.rmtree(scenePath)
if not os.path.exists(scenePath):
os.makedirs(scenePath)
supervisor.animationStartRecording(targetHTMLFile)
supervisor.animationStopRecording()
supervisor.step(timeStep)
supervisor.step(timeStep)
# Remove useless files.
os.remove(targetHTMLFile)
os.remove(targetAnimationFile)
for fl in glob.glob(
os.path.join(scenePath, 'textures', 'cubic',
'noon_cloudy_mountains*.jpg')):
os.remove(fl)
# Simplified JSON file.
# - keep only the interested robot.
assert os.path.exists(targetMetaFile), 'The meta file does not exists. ' \
'Please run Webots with the "--enable-x3d-meta-file-export" argument.'