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       "Playback(children=(HBox(children=(Button(description='Play', icon='play', style=ButtonStyle(), tooltip='Start …"
      ]
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      "text/plain": [
       "KlamptWidgetAdaptor(rpc={'type': 'multiple', 'calls': [{'y': 5, 'type': 'add_text', 'x': 5, 'name': 'HUD1', 't…"
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   "source": [
    "#%load_ext wurlitzer\n",
    "#^^^ used to capture C/C++ output to be displayed in the notebook.  Does not work on Windows.\n",
    "\n",
    "#Python 2/3 compatibility\n",
    "from __future__ import print_function,division\n",
    "\n",
    "import time\n",
    "from klampt import *\n",
    "from IPython.display import clear_output\n",
    "from klampt import vis\n",
    "from klampt.vis.ipython import Playback\n",
    "\n",
    "world = WorldModel()\n",
    "if world.loadFile(\"../data/tx90scenario0.xml\"):\n",
    "    sim = Simulator(world)\n",
    "    \n",
    "    #If you'd like to show the print output, comment out this line\n",
    "    clear_output()\n",
    "    \n",
    "    vis.add(\"world\",world)\n",
    "    vis.addText(\"HUD1\",\"0\",position=(5,5))\n",
    "    playback_widget = Playback(vis.scene())\n",
    "    \n",
    "    display(playback_widget)\n",
    "    vis.show()\n",
    "else:\n",
    "    print(\"There was a problem loading the world file\")\n",
    "\n",
    "#Controls:\n",
    "#left mouse click to rotate the view\n",
    "#right click or ctrl+click to pan the view\n",
    "#mouse wheel or shift+click to zoom the view"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "#define your visualization and controller code here\n",
    "import random\n",
    "\n",
    "next_move_time = 2.0\n",
    "move_delay = 5.0\n",
    "robot = world.robot(0)    \n",
    "    \n",
    "def control_loop(t,controller):\n",
    "    global next_move_time\n",
    "    vis.addText(\"HUD1\",\"%.2f\"%(t,),position=(5,5))\n",
    "    if t >= next_move_time:\n",
    "        qmin,qmax = robot.getJointLimits()\n",
    "        q = [random.uniform(a,b) for (a,b) in zip(qmin,qmax)]\n",
    "        controller.setMilestone(q)\n",
    "        next_move_time += move_delay\n",
    "    pass\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
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   "source": [
    "#this code runs the simulation and binds your code to the playback buttons\n",
    "dt = 0.02\n",
    "\n",
    "\n",
    "def do_reset():\n",
    "    sim.reset()\n",
    "    sim.updateWorld()\n",
    "    global next_move_time\n",
    "    next_move_time = 2.0\n",
    "    vis.addText(\"HUD1\",\"0\",position=(5,5))\n",
    "\n",
    "def do_advance():\n",
    "    global world,sim\n",
    "    if world.numRobots() > 0:\n",
    "        control_loop(sim.getTime(),sim.controller(0))  #call code in the above cell\n",
    "    #print(\"Simulating...\",dt)\n",
    "    sim.simulate(dt)\n",
    "    sim.updateWorld()\n",
    "    #print(\"Done.\")\n",
    "\n",
    "#this binds the playback widget buttons\n",
    "playback_widget.advance = do_advance\n",
    "playback_widget.reset = do_reset\n",
    "playback_widget.quiet = False"
   ]
  },
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