pyplot in seconds not ms

jhavl · jhavl · commit b493902564ab · 2020-11-12T10:27:08.000+10:00
diff --git a/examples/RRMC.py b/examples/RRMC.py
@@ -26,7 +26,7 @@
     start = time.time()
     v, arrived = rp.p_servo(panda.fkine(), Tep, 1)
     panda.qd = np.linalg.pinv(panda.jacobe()) @ v
-    env.step(50)
+    env.step(dt)
     stop = time.time()
 
     if stop - start < dt:
diff --git a/roboticstoolbox/backends/PyPlot/PyPlot.py b/roboticstoolbox/backends/PyPlot/PyPlot.py
@@ -106,11 +106,11 @@ def launch(self, name=None, limits=None):
         # signal.setitimer(signal.ITIMER_REAL, 0.1, 0.1)
         # TODO still need to finish this, and get Jupyter animation working
 
-    def step(self, dt=50):
+    def step(self, dt=0.05):
         """
         Update the graphical scene
 
-        :param dt: time step in milliseconds, defaults to 50
+        :param dt: time step in seconds, defaults to 50 (0.05 s)
         :type dt: int, optional
 
         ``env.step(args)`` triggers an update of the 3D scene in the matplotlib
@@ -138,7 +138,7 @@ def step(self, dt=50):
         self._set_axes_equal()
         # plt.ion()
         plt.draw()
-        plt.pause(dt / 1000)
+        plt.pause(dt)
 
         self._update_robots()
 
@@ -281,7 +281,7 @@ def _step_robots(self, dt):
             elif robot.control_type == 'v':
 
                 for i in range(robot.n):
-                    robot.q[i] += robot.qd[i] * (dt / 1000)
+                    robot.q[i] += robot.qd[i] * (dt)
 
             elif robot.control_type == 'a':
                 pass
