import pybullet as p
import time

p.connect(p.GUI)
p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
p.setGravity(0,0,-10)
arm = p.loadURDF("widowx/widowx.urdf",useFixedBase=True)

p.resetBasePositionAndOrientation(arm,[-0.098612,-0.000726,-0.194018],[0.000000,0.000000,0.000000,1.000000])
  
	
while (1):
	p.stepSimulation()
	time.sleep(0.01)
	#p.saveWorld("test.py")
	viewMat = p.getDebugVisualizerCamera()[2]
	#projMatrix = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
	projMatrix = p.getDebugVisualizerCamera()[3]
	width=640
	height=480
	img_arr = p.getCameraImage(width=width,height=height,viewMatrix=viewMat,projectionMatrix=projMatrix)
