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small tweak in vr_kuka_setup.py example

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This commit is contained in:
Erwin Coumans
2017-08-27 19:53:38 -07:00
parent c8cb0a5f42
commit 3f00c7bd49
1 changed files with 9 additions and 3 deletions
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12
examples/pybullet/gym/pybullet_envs/examples/vr_kuka_setup.py
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@@ -1,8 +1,9 @@
import pybullet as p import pybullet as p
#p.connect(p.UDP,"192.168.86.100") import time
import pybullet_data import pybullet_data
#cid = p.connect(p.UDP,"192.168.86.100")
cid = p.connect(p.SHARED_MEMORY) cid = p.connect(p.SHARED_MEMORY)
if (cid<0): if (cid<0):
p.connect(p.GUI) p.connect(p.GUI)
@@ -80,7 +81,12 @@ for jointIndex in range (p.getNumJoints(ob)):
p.setGravity(0.000000,0.000000,0.000000) p.setGravity(0.000000,0.000000,0.000000)
p.setGravity(0,0,-10) p.setGravity(0,0,-10)
for i in range (100000): p.setRealTimeSimulation(1)
p.stepSimulation() ref_time = time.time()
running_time = 60 # seconds
while (time.time() < ref_time+running_time):
p.setGravity(0,0,-10)
#p.stepSimulation()
p.disconnect() p.disconnect()