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import pybullet as p
import time
p.connect(p.GUI)
p.resetSimulation()
timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "loadingBenchVR.json")
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
print("load plane.urdf")
p.loadURDF("plane.urdf")
print("load r2d2.urdf")
p.loadURDF("r2d2.urdf", 0, 0, 1)
print("load kitchen/1.sdf")
p.loadSDF("kitchens/1.sdf")
print("load 100 times plate.urdf")
for i in range(100):
p.loadURDF("dinnerware/plate.urdf", 0, i, 1)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
p.stopStateLogging(timinglog)
print("stopped state logging")
p.getCameraImage(320, 200)
while (1):
p.stepSimulation()
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