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PyBullet combineUrdf, make createMultiBody much faster, by temporarily disabling rendering

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Erwin Coumans
2018-05-10 20:52:51 -07:00
parent 282154f377
commit e86d11f7b9
1 changed files with 5 additions and 0 deletions
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5
examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py
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@@ -10,6 +10,7 @@ p0.setAdditionalSearchPath(pybullet_data.getDataPath())
p1 = bc.BulletClient(connection_mode=pybullet.DIRECT) p1 = bc.BulletClient(connection_mode=pybullet.DIRECT)
p1.setAdditionalSearchPath(pybullet_data.getDataPath()) p1.setAdditionalSearchPath(pybullet_data.getDataPath())
#can also connect using different modes, GUI, SHARED_MEMORY, TCP, UDP, SHARED_MEMORY_SERVER, GUI_SERVER #can also connect using different modes, GUI, SHARED_MEMORY, TCP, UDP, SHARED_MEMORY_SERVER, GUI_SERVER
husky = p1.loadURDF("husky/husky.urdf", flags=p0.URDF_USE_IMPLICIT_CYLINDER) husky = p1.loadURDF("husky/husky.urdf", flags=p0.URDF_USE_IMPLICIT_CYLINDER)
@@ -42,11 +43,15 @@ print("p0.getNumBodies()=",p0.getNumBodies())
print("p1.getNumBodies()=",p1.getNumBodies()) print("p1.getNumBodies()=",p1.getNumBodies())
pgui = bc.BulletClient(connection_mode=pybullet.GUI) pgui = bc.BulletClient(connection_mode=pybullet.GUI)
pgui.configureDebugVisualizer(pgui.COV_ENABLE_RENDERING, 0)
orn=[0,0,0,1] orn=[0,0,0,1]
ed0.createMultiBody([0,0,0],orn, pgui._client) ed0.createMultiBody([0,0,0],orn, pgui._client)
pgui.setRealTimeSimulation(1) pgui.setRealTimeSimulation(1)
pgui.configureDebugVisualizer(pgui.COV_ENABLE_RENDERING, 1)
while (pgui.isConnected()): while (pgui.isConnected()):
pgui.getCameraImage(320,200, renderer=pgui.ER_BULLET_HARDWARE_OPENGL) pgui.getCameraImage(320,200, renderer=pgui.ER_BULLET_HARDWARE_OPENGL)
time.sleep(1./240.) time.sleep(1./240.)