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33 lines
954 B
Python
33 lines
954 B
Python
import pybullet as p
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useEGL = False
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useEGLGUI = False
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if useEGL:
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if useEGLGUI:
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p.connect(p.GUI, "window_backend=2")
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else:
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p.connect(p.DIRECT)
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p.loadPlugin("eglRendererPlugin")
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else:
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p.connect(p.GUI)
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p.loadURDF("threecubes.urdf", flags=p.URDF_USE_MATERIAL_COLORS_FROM_MTL)
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while (1):
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viewmat = [
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0.642787516117096, -0.4393851161003113, 0.6275069713592529, 0.0, 0.766044557094574,
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0.36868777871131897, -0.5265407562255859, 0.0, -0.0, 0.8191521167755127, 0.5735764503479004,
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0.0, 2.384185791015625e-07, 2.384185791015625e-07, -5.000000476837158, 1.0
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]
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projmat = [
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0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0,
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0.0, 0.0, -0.02000020071864128, 0.0
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]
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p.getCameraImage(64,
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64,
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viewMatrix=viewmat,
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projectionMatrix=projmat,
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flags=p.ER_NO_SEGMENTATION_MASK)
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p.stepSimulation()
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