New syncing. Works... better?  It still seems to crash if I use vision...scan() in the loop. It might be the fact that it's in the loop that it crashes, though
A minor change to the model so that the vision occurs int he production cycle. It does not seem to hang when I do that. I'm imaging the issue has to do with threading
Made some small changes as I test this branch. Moved the camera forward by a little bit because it seems the camera was also seeing the body of the agent. I also noticed that sometimes that it seems that it crashes, it continues many seconds later. I think I can more or less keep it as is.
Working ont the model and the vision module.
small updates to the model.
Worked on the room2 file. Also worked on the geometriccamera a bit. Trying to figure out what to do with vision.