Real-time simulations

module:

navground.sim.real_time

Perform an experiment in real-time

class RealTimeSimulation

Helper class to simulated a navground.sim.World in real-time using an ayncio.

>>> word = ...
>>> sim = RealTimeSimulation(world=world, time_step=0.1, web_ui=WebUI())
>>> await sim.run()

__init__(world: World, time_step: float, factor: float = 1.0, web_ui: WebUI | None = None, bounds: Rect | None = None)

Constructs a new instance.

Parameters:

• world – The world to simulate

• time_step – The time step to apply

• factor – The real-time factor

• web_ui – An optional web user interface to sync with

• bounds – The region to display in the web_ui. If not set, it will estimate it from the current world state.

async init() → None

Initializes the simulation and the UI

async run(until: Callable[[], bool] | None = None) → None

Simulate a world.

Parameters:

until – an optional condition to terminate the simulation

run_threaded(until: Callable[[], bool] | None) → None

Run a simulation in a thread. Blocks until the simulation is done.

Parameters:

until – an optional condition to terminate the simulation

async step() → bool

Perform a simulation step.

Returns:

Whether the step could be performed or not.

stop() → None

Signals to stop the simulation

async update() → None

Updates the UI with the world state.

Replay an experiment in real-time

class RealTimeReplay

Bases: RealTimeSimulation

Helper class to replay an navground.sim.RecordedExperimentalRun in real-time.

>>> # load a run from a recorded experiment
>>> run = ...
>>> sim = RealTimeSimulation(run=run, web_ui=WebUI())
>>> await sim.run()

__init__(run: RecordedExperimentalRun, factor: float = 1.0, web_ui: WebUI | None = None, bounds: Rect | None = None)

Constructs a new instance.

Parameters:

• run – The recorded run

• factor – The real time factor

• web_ui – An optional web user interface to sync with

• bounds – The region to display in the web_ui. If not set, it will compute it from the recorded poses.

The run should contain at least recorded poses, else it would be useless to replay it.