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27 lines
988 B
Python
27 lines
988 B
Python
import pybullet as p
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import time
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import pybullet_data
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p.connect(p.GUI)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.loadURDF("table/table.urdf", 0.5000000, 0.00000, -.820000, 0.000000, 0.000000, 0.0, 1.0)
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p.setGravity(0, 0, -10)
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arm = p.loadURDF("widowx/widowx.urdf", useFixedBase=True)
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p.resetBasePositionAndOrientation(arm, [-0.098612, -0.000726, -0.194018],
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[0.000000, 0.000000, 0.000000, 1.000000])
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while (1):
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p.stepSimulation()
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time.sleep(0.01)
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#p.saveWorld("test.py")
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viewMat = p.getDebugVisualizerCamera()[2]
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#projMatrix = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
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projMatrix = p.getDebugVisualizerCamera()[3]
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width = 640
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height = 480
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img_arr = p.getCameraImage(width=width,
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height=height,
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viewMatrix=viewMat,
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projectionMatrix=projMatrix)
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