text: import numpy as np
  import matplotlib.pyplot as plt
  import pybullet
  import time
  
  pybullet.connect(pybullet.DIRECT)
  pybullet.loadURDF("r2d2.urdf")
  
  camTargetPos = [0,0,0]
  cameraUp = [0,0,1]
  cameraPos = [1,1,1]
  yaw = 40
  pitch = 10.0
  
  roll=0
  upAxisIndex = 2
  camDistance = 4
  pixelWidth = 1920
  pixelHeight = 1080
  nearPlane = 0.01
  farPlane = 1000
  
  fov = 60
  
  main_start = time.time()
  #img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
  #renderImage(w, h, view[16], projection[16])
  #img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane)
  for pitch in range (0,360,10) :
  	start = time.time()
  	img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex, nearPlane, farPlane, fov)
  	stop = time.time()
  	print "renderImage %f" % (stop - start)
  
  	w=img_arr[0] #width of the image, in pixels
  	h=img_arr[1] #height of the image, in pixels
  	rgb=img_arr[2] #color data RGB
  	dep=img_arr[3] #depth data
  
  	#print 'width = %d height = %d' % (w,h)
  
  	#show
  	plt.imshow(rgb,interpolation='none')
  	#plt.show()
  	plt.pause(0.01)
  
  main_stop = time.time()
  print "Total time %f" % (main_stop - main_start)
  
  pybullet.resetSimulation()
  