43 lines
1.1 KiB
Python
43 lines
1.1 KiB
Python
import os
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import sys
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import time
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import subprocess
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import pybullet as p
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from pdb import set_trace
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import matplotlib.pyplot as plt
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#subprocess.call(["hardening-check", p.__file__])
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p.connect(p.DIRECT)
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logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "debugTimings")
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plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
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plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
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if plugin < 0:
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print("\nPlugin Failed to load!\n")
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sys.exit()
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print("plugin =",plugin)
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path = '/home/argusm/lang/bullet3/examples/pybullet/gym/pybullet_data/r2d2.urdf'
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path = '/home/argusm/lang/gym-grasping/gym_grasping/robots/models/kuka_iiwa/kuka_weiss_bolt.sdf'
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#p.loadURDF(path)
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p.loadSDF(path)
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start = time.time()
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plot = True
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try:
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for i in range(10):
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hight, width, img_arr, deept_arr, obj_arr = p.getCameraImage(128,128)
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if plot:
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plt.imshow(img_arr[:,:,:3])
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plt.show()
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if i % 100 == 0 and i > 0:
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print("FPS",100/(time.time()-start))
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start = time.time()
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finally:
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p.stopStateLogging(logId)
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