27 lines
683 B
Python
27 lines
683 B
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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p.resetSimulation()
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timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "loadingBenchVR.json")
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
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print("load plane.urdf")
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p.loadURDF("plane.urdf")
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print("load r2d2.urdf")
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p.loadURDF("r2d2.urdf", 0, 0, 1)
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print("load kitchen/1.sdf")
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p.loadSDF("kitchens/1.sdf")
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print("load 100 times plate.urdf")
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for i in range(100):
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p.loadURDF("dinnerware/plate.urdf", 0, i, 1)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
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p.stopStateLogging(timinglog)
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print("stopped state logging")
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p.getCameraImage(320, 200)
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while (1):
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p.stepSimulation()
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