44 lines
1.3 KiB
Python
44 lines
1.3 KiB
Python
import pybullet as p
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import pybullet_data as pd
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import math
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import time
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import numpy as np
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import pybullet_robots.panda.panda_sim_grasp as panda_sim
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#video requires ffmpeg available in path
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createVideo=False
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fps=240.
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timeStep = 1./fps
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if createVideo:
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p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=0 --mp4=\"pybullet_grasp.mp4\" --mp4fps="+str(fps) )
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else:
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p.connect(p.GUI)
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p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
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p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
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p.setPhysicsEngineParameter(maxNumCmdPer1ms=1000)
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p.resetDebugVisualizerCamera(cameraDistance=1.3, cameraYaw=38, cameraPitch=-22, cameraTargetPosition=[0.35,-0.13,0])
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p.setAdditionalSearchPath(pd.getDataPath())
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p.setTimeStep(timeStep)
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p.setGravity(0,-9.8,0)
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panda = panda_sim.PandaSimAuto(p,[0,0,0])
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panda.control_dt = timeStep
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logId = panda.bullet_client.startStateLogging(panda.bullet_client.STATE_LOGGING_PROFILE_TIMINGS, "log.json")
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panda.bullet_client.submitProfileTiming("start")
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for i in range (100000):
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panda.bullet_client.submitProfileTiming("full_step")
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panda.step()
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p.stepSimulation()
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if createVideo:
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p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
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if not createVideo:
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time.sleep(timeStep)
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panda.bullet_client.submitProfileTiming()
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panda.bullet_client.submitProfileTiming()
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panda.bullet_client.stopStateLogging(logId)
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