How to use the klampt.vis function in Klampt

except:
					pass
				shelved.append((dataset,objname))
		launch_shelf(robot,shelved)
	else:
		#just plan grasping
		try:
			index = int(sys.argv[2])
			objname = objects[dataset][index]
		except IndexError:
			index = random.randint(0,len(objects[dataset])-1)
			objname = objects[dataset][index]
		except ValueError:
			objname = sys.argv[2]
		launch_simple(robot,dataset,objname)
	vis.kill()

#create a hand emulator from the given robot name
	module = importlib.import_module('plugins.'+robotname)
	#emulator takes the robot index (0), start link index (6), and start driver index (6)
	hand = module.HandEmulator(sim,0,6,6)
	sim.addEmulator(0,hand)

	#controlfunc is now attached to control the robot
	import shelf_controller
	sim.setController(robot,shelf_controller.make(sim,hand,program.dt))

	#the next line latches the current configuration in the PID controller...
	sim.controller(0).setPIDCommand(robot.getConfig(),robot.getVelocity())
	
	#this code uses the GLSimulationProgram structure, which gives a little more control over the visualization
	vis.setPlugin(program)
	program.reshape(800,600)
	vis.show()
	while vis.shown():
		time.sleep(0.1)
	return
	
	#this code manually updates the vis
	vis.add("world",world)
	vis.show()
	t0 = time.time()
	while vis.shown():
		vis.lock()
		sim.simulate(0.01)
		sim.updateWorld()
		vis.unlock()
		t1 = time.time()