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loadpanda_grasp.py
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loadpanda_grasp.py
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import pybullet as p
import pybullet_data as pd
import math
import time
import numpy as np
import panda_sim_grasp as panda_sim
#video requires ffmpeg available in path
createVideo=False
if createVideo:
p.connect(p.GUI, options="--mp4=\"pybullet_grasp.mp4\", --mp4fps=240")
else:
p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
p.resetDebugVisualizerCamera(cameraDistance=1.3, cameraYaw=38, cameraPitch=-22, cameraTargetPosition=[0.35,-0.13,0])
p.setAdditionalSearchPath(pd.getDataPath())
timeStep=1./120.#240.
p.setTimeStep(timeStep)
p.setGravity(0,-9.8,0)
panda = panda_sim.PandaSimAuto(p,[0,0,0])
logId = panda.bullet_client.startStateLogging(panda.bullet_client.STATE_LOGGING_PROFILE_TIMINGS, "log.json")
panda.bullet_client.submitProfileTiming("start")
for i in range (100000):
panda.bullet_client.submitProfileTiming("full_step")
panda.step()
p.stepSimulation()
if createVideo:
p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
time.sleep(timeStep)
panda.bullet_client.submitProfileTiming()
panda.bullet_client.submitProfileTiming()
panda.bullet_client.stopStateLogging(logId)