egl plugin working

examples/SharedMemory/plugins/eglPlugin/bullet.py

@@ -1,13 +1,21 @@
 import os 
+import sys
 import time
 import subprocess
 import pybullet as p
+from pdb import set_trace
+import matplotlib.pyplot as plt
 #subprocess.call(["hardening-check", p.__file__])
 
 p.connect(p.DIRECT)
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "debugTimings")
 
 plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
 plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
+if plugin < 0:
+    print("\nPlugin Failed to load!\n")
+    sys.exit()
+
 print("plugin =",plugin)
 
 path = '/home/argusm/lang/bullet3/examples/pybullet/gym/pybullet_data/r2d2.urdf'
@@ -16,10 +24,19 @@ path = '/home/argusm/lang/gym-grasping/gym_grasping/robots/models/kuka_iiwa/kuka
 p.loadSDF(path)
 
 start = time.time()
-for i in range(2000):
-    p.getCameraImage(80,80)
-    if i % 100 == 0 and i > 0:
-        print("FPS",100/(time.time()-start))
+
+plot = False
+try:
+    for i in range(10):
+        hight, width, img_arr, deept_arr, obj_arr = p.getCameraImage(80,80)
+        if plot:
+            plt.imshow(img_arr[:,:,:3])
+            plt.show()
+        if i % 100 == 0 and i > 0:
+            print("FPS",100/(time.time()-start))
         start = time.time()
+finally:
+    p.stopStateLogging(logId)
+