Commit 4914ee93 authored by Jayant Khatkar's avatar Jayant Khatkar

increase frame rate when watching plan

parent f29a4c68
......@@ -135,14 +135,15 @@ class Plan:
"""
watch plan in pybullet GUI (sped up)
"""
frame_rate = 60
t_max = max([self.cumul_time[r][-1] for r in self.cumul_time])
speed = t_max/t
tsteps = int(t/0.1)
tsteps = int(t*frame_rate)
for t in range(tsteps):
for r in range(self.n):
j = self.jointsAtTime(t*speed*0.1, r)
j = self.jointsAtTime(t*speed/frame_rate, r)
self.cc.setJoints(r,j)
time.sleep(0.1)
time.sleep(1/frame_rate)
return
......
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