39 lines
958 B
Python
39 lines
958 B
Python
import os
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import json
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import time
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import pypot
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import poppytools
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from pypot.vrep import from_vrep
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from pypot.primitive import LoopPrimitive
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if __name__ == '__main__':
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DT = 30.
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class JustWaitingPrimitive(LoopPrimitive):
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def update(self):
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if self.elapsed_time > DT:
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self.stop(wait=False)
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configfile = os.path.join(os.path.dirname(poppytools.__file__),
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'configuration', 'poppy_config.json')
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with open(configfile) as f:
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poppy_config = json.load(f)
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scene_path = os.path.join(os.path.dirname(pypot.__file__),
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'..', 'samples', 'notebooks', 'poppy-sitting.ttt')
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poppy = from_vrep(poppy_config, '127.0.0.1', 19997, scene_path)
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time.sleep(0.1)
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p = JustWaitingPrimitive(poppy, 50.)
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t0 = time.time()
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p.start()
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p.wait_to_stop()
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print('Running {}s of v-rep simulation took {}s'.format(DT, time.time() - t0))
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