def close(self): try: if self._connected: if self._load_egl and self._plugin is not None: pb.unloadPlugin(self._plugin, physicsClientId=self.client_id) pb.disconnect(physicsClientId=self.client_id) except pb.error: raise RuntimeError(pb.error)
def _disconnect_physic_clients(self): if self._egl_plugin is not None: p.unloadPlugin(self._egl_plugin) for i in range(self._num_physic_clients): p.disconnect(physicsClientId=i)
pixelWidth = 320 pixelHeight = 220 camTargetPos = [0,0,0] camDistance = 4 pitch = -10.0 roll=0 upAxisIndex = 2 while (p.isConnected()): for yaw in range (0,360,10) : start = time.time() p.stepSimulation() stop = time.time() print ("stepSimulation %f" % (stop - start)) #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] viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) projectionMatrix = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0] start = time.time() img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix=viewMatrix, projectionMatrix=projectionMatrix, shadow=1,lightDirection=[1,1,1]) stop = time.time() print ("renderImage %f" % (stop - start)) #time.sleep(.1) #print("img_arr=",img_arr) p.unloadPlugin(plugin)
upAxisIndex = 2 while (p.isConnected()): for yaw in range(0, 360, 10): start = time.time() p.stepSimulation() stop = time.time() print("stepSimulation %f" % (stop - start)) #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] viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) projectionMatrix = [ 1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0 ] start = time.time() img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix=viewMatrix, projectionMatrix=projectionMatrix, shadow=1, lightDirection=[1, 1, 1]) stop = time.time() print("renderImage %f" % (stop - start)) #time.sleep(.1) #print("img_arr=",img_arr) p.unloadPlugin(plugin)
def disconnect(self): if self.__egl_plugin is not None: pb.unloadPlugin(self.__egl_plugin) pb.disconnect()
def unload(self): """Unload plugin """ if self._plugin_id != -1: pb.unloadPlugin(self._plugin_id, physicsClientId=self._client_id) self._plugin_id = -1
def close(self): if self._egl_plugin is not None: p.unloadPlugin(self._egl_plugin) p.disconnect()
def destroy(self): """ Destroys the environment properly """ if self.use_egl_plugin: p.unloadPlugin(self._plugin)