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fix loadpanda video generation

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remove duplicate code (formerly Windows ffpmeg needed different settings?)
This commit is contained in:
Erwin Coumans
2020-01-12 08:07:54 -08:00
parent 84e2ea918c
commit 1be6a1d16b
3 changed files with 9 additions and 21 deletions
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12
examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py
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@@ -7,23 +7,26 @@ import pybullet_robots.panda.panda_sim_grasp as panda_sim
#video requires ffmpeg available in path
createVideo=False
fps=240.
timeStep = 1./fps
if createVideo:
p.connect(p.GUI, options="--mp4=\"pybullet_grasp.mp4\", --mp4fps=240")
p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=0 --mp4=\"pybullet_grasp.mp4\" --mp4fps="+str(fps) )
else:
p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
p.setPhysicsEngineParameter(maxNumCmdPer1ms=1000)
p.resetDebugVisualizerCamera(cameraDistance=1.3, cameraYaw=38, cameraPitch=-22, cameraTargetPosition=[0.35,-0.13,0])
p.setAdditionalSearchPath(pd.getDataPath())
timeStep=1./120.#240.
p.setTimeStep(timeStep)
p.setGravity(0,-9.8,0)
panda = panda_sim.PandaSimAuto(p,[0,0,0])
panda.control_dt = timeStep
logId = panda.bullet_client.startStateLogging(panda.bullet_client.STATE_LOGGING_PROFILE_TIMINGS, "log.json")
panda.bullet_client.submitProfileTiming("start")
for i in range (100000):
@@ -32,7 +35,8 @@ for i in range (100000):
p.stepSimulation()
if createVideo:
p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
time.sleep(timeStep)
if not createVideo:
time.sleep(timeStep)
panda.bullet_client.submitProfileTiming()
panda.bullet_client.submitProfileTiming()
panda.bullet_client.stopStateLogging(logId)