54 lines
1.7 KiB
Python
54 lines
1.7 KiB
Python
import pybullet as p
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import time
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import pkgutil
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egl = pkgutil.get_loader('eglRenderer')
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p.connect(p.DIRECT)
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plugin = p.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
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print("plugin=", plugin)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
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p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
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p.setGravity(0, 0, -10)
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p.loadURDF("plane.urdf", [0, 0, -1])
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p.loadURDF("r2d2.urdf")
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pixelWidth = 320
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pixelHeight = 220
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camTargetPos = [0, 0, 0]
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camDistance = 4
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pitch = -10.0
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roll = 0
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upAxisIndex = 2
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while (p.isConnected()):
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for yaw in range(0, 360, 10):
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start = time.time()
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p.stepSimulation()
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stop = time.time()
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print("stepSimulation %f" % (stop - start))
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#viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
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viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll,
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upAxisIndex)
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projectionMatrix = [
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1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0,
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-1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0
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]
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start = time.time()
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img_arr = p.getCameraImage(pixelWidth,
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pixelHeight,
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viewMatrix=viewMatrix,
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projectionMatrix=projectionMatrix,
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shadow=1,
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lightDirection=[1, 1, 1])
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stop = time.time()
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print("renderImage %f" % (stop - start))
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#time.sleep(.1)
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#print("img_arr=",img_arr)
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p.unloadPlugin(plugin)
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