pycram.worlds.bullet_world

Contents

pycram.worlds.bullet_world#

Attributes#

Link

RootLink

Joint

Classes#

BulletWorld

This class represents a BulletWorld, which is a simulation environment that uses the Bullet Physics Engine. This

Gui

For internal use only. Creates a new thread for the physics simulation that is active until closed by

Module Contents#

pycram.worlds.bullet_world.Joint#
class pycram.worlds.bullet_world.BulletWorld(mode: pycram.datastructures.enums.WorldMode = WorldMode.DIRECT, is_prospection: bool = False, use_multiverse_for_real_world_simulation: bool = False)#

Bases: pycram.datastructures.world.World

This class represents a BulletWorld, which is a simulation environment that uses the Bullet Physics Engine. This class is the main interface to the Bullet Physics Engine and should be used to spawn Objects, simulate Physic and manipulate the Bullet World.

vis_axis: typing_extensions.List[int] = []#
add_multiverse_resources()#

Add the Multiverse resources to the start of the data directories of the BulletWorld such they are searched first for the resources because the pycram objects need to have the same description as the Multiverse objects.

_init_world(mode: pycram.datastructures.enums.WorldMode)#
load_generic_object_and_get_id(description: pycram.object_descriptors.generic.ObjectDescription, pose: typing_extensions.Optional[pycram.datastructures.pose.PoseStamped] = None) → int#

Creates a visual and collision box in the simulation.

load_object_and_get_id(path: typing_extensions.Optional[str] = None, pose: typing_extensions.Optional[pycram.datastructures.pose.PoseStamped] = None, obj_type: typing_extensions.Optional[pycram.datastructures.enums.ObjectType] = None) → int#
_load_object_and_get_id(path: str, pose: pycram.datastructures.pose.PoseStamped) → int#
_remove_visual_object(obj_id: int) → bool#
remove_object_from_simulator(obj: pycram.world_concepts.world_object.Object) → bool#
_remove_body(body_id: int) → typing_extensions.Any#

Remove a body from PyBullet using the body id.

Parameters:

body_id – The id of the body.

add_constraint(constraint: pycram.world_concepts.constraints.Constraint) → int#
remove_constraint(constraint_id)#
_get_joint_position(joint: pycram.object_descriptors.urdf.ObjectDescription.Joint) → float#
get_object_joint_names(obj: pycram.world_concepts.world_object.Object) → typing_extensions.List[str]#
get_object_number_of_joints#
perform_collision_detection() → None#
get_body_contact_points(body: pycram.datastructures.world_entity.PhysicalBody) → pycram.datastructures.dataclasses.ContactPointsList#
get_contact_points_between_two_bodies(obj_a: pycram.datastructures.world_entity.PhysicalBody, obj_b: pycram.datastructures.world_entity.PhysicalBody) → pycram.datastructures.dataclasses.ContactPointsList#
get_body_closest_points(body: pycram.datastructures.world_entity.PhysicalBody, max_distance: float) → pycram.datastructures.dataclasses.ClosestPointsList#
get_closest_points_between_two_bodies(obj_a: pycram.datastructures.world_entity.PhysicalBody, obj_b: pycram.datastructures.world_entity.PhysicalBody, max_distance: float) → pycram.datastructures.dataclasses.ClosestPointsList#
static get_body_and_link_id(body: pycram.datastructures.world_entity.PhysicalBody, index='') → typing_extensions.Dict[str, int]#
parse_points_list_to_args(point: typing_extensions.List) → typing_extensions.Dict#

Parses the list of points to a list of dictionaries with the keys as the names of the arguments of the ContactPoint class.

Parameters:

point – The list of points.

_set_multiple_joint_positions(joint_positions: typing_extensions.Dict[Joint, float]) → bool#
_reset_joint_position(joint: Joint, joint_position: float) → bool#
_get_multiple_joint_positions(joints: typing_extensions.List[Joint]) → typing_extensions.Dict[str, float]#
reset_multiple_objects_base_poses(objects: typing_extensions.Dict[pycram.world_concepts.world_object.Object, pycram.datastructures.pose.PoseStamped]) → bool#
reset_object_base_pose(obj: pycram.world_concepts.world_object.Object, pose: pycram.datastructures.pose.PoseStamped) → bool#
_set_object_pose_by_id(obj_id: int, pose: pycram.datastructures.pose.PoseStamped) → bool#
step(func: typing_extensions.Optional[typing_extensions.Callable[[], None]] = None, step_seconds: typing_extensions.Optional[float] = None) → None#
get_multiple_object_poses(objects: typing_extensions.List[pycram.world_concepts.world_object.Object]) → typing_extensions.Dict[str, pycram.datastructures.pose.PoseStamped]#
get_multiple_object_positions(objects: typing_extensions.List[pycram.world_concepts.world_object.Object]) → typing_extensions.Dict[str, typing_extensions.List[float]]#
get_multiple_object_orientations(objects: typing_extensions.List[pycram.world_concepts.world_object.Object]) → typing_extensions.Dict[str, typing_extensions.List[float]]#
get_object_position(obj: pycram.world_concepts.world_object.Object) → typing_extensions.List[float]#
get_object_orientation(obj: pycram.world_concepts.world_object.Object) → typing_extensions.List[float]#
get_object_pose(obj: pycram.world_concepts.world_object.Object) → pycram.datastructures.pose.PoseStamped#
get_object_axis_aligned_bounding_box(obj: pycram.world_concepts.world_object.Object) → pycram.datastructures.dataclasses.AxisAlignedBoundingBox#
set_realtime(real_time: bool) → None#
set_gravity(gravity_vector: typing_extensions.List[float]) → None#
disconnect_from_physics_server()#
join_threads()#

Joins the GUI thread if it exists.

join_gui_thread_if_exists()#
save_physics_simulator_state(state_id: typing_extensions.Optional[int] = None, use_same_id: bool = False) → int#
restore_physics_simulator_state(state_id)#
remove_physics_simulator_state(state_id: int)#
_add_vis_axis(pose: pycram.datastructures.pose.PoseStamped, length: typing_extensions.Optional[float] = 0.2) → int#

Creates a Visual object which represents the coordinate frame at the given position and orientation. There can be an unlimited amount of vis axis objects.

Parameters:

  • pose – The pose at which the axis should be spawned

  • length – Optional parameter to configure the length of the axes

Returns:

The id of the spawned object

_remove_vis_axis() → None#

Removes all spawned vis axis objects that are currently in this BulletWorld.

_ray_test(from_position: typing_extensions.List[float], to_position: typing_extensions.List[float]) → pycram.datastructures.dataclasses.RayResult#
_ray_test_batch(from_positions: typing_extensions.List[typing_extensions.List[float]], to_positions: typing_extensions.List[typing_extensions.List[float]], num_threads: int = 1) → typing_extensions.List[pycram.datastructures.dataclasses.RayResult]#
_create_visual_shape(visual_shape: pycram.datastructures.dataclasses.VisualShape) → int#
_create_multi_body(multi_body: pycram.datastructures.dataclasses.MultiBody) → int#
get_images_for_target(target_pose: pycram.datastructures.pose.PoseStamped, cam_pose: pycram.datastructures.pose.PoseStamped, size: typing_extensions.Optional[int] = 256) → typing_extensions.List[numpy.ndarray]#
_add_text(text: str, position: typing_extensions.List[float], orientation: typing_extensions.Optional[typing_extensions.List[float]] = None, size: typing_extensions.Optional[float] = None, color: typing_extensions.Optional[pycram.datastructures.dataclasses.Color] = Color(), life_time: typing_extensions.Optional[float] = 0, parent_object_id: typing_extensions.Optional[int] = None, parent_link_id: typing_extensions.Optional[int] = None) → int#
_remove_text(text_id: typing_extensions.Optional[int] = None) → None#
enable_joint_force_torque_sensor(obj: pycram.world_concepts.world_object.Object, fts_joint_idx: int) → None#
disable_joint_force_torque_sensor(obj: pycram.world_concepts.world_object.Object, joint_id: int) → None#
get_joint_reaction_force_torque(obj: pycram.world_concepts.world_object.Object, joint_id: int) → typing_extensions.List[float]#
get_applied_joint_motor_torque(obj: pycram.world_concepts.world_object.Object, joint_id: int) → float#
class pycram.worlds.bullet_world.Gui(world: pycram.datastructures.world.World, mode: pycram.datastructures.enums.WorldMode)#

Bases: threading.Thread

For internal use only. Creates a new thread for the physics simulation that is active until closed by exit() Also contains the code for controlling the camera.

world#
mode: pycram.datastructures.enums.WorldMode#
camera_button_id = -1#
run()#

Initializes the new simulation and checks in an endless loop if it is still active. If it is the thread will be suspended for 1/80 seconds, if it is not the method and thus the thread terminates. The loop also checks for mouse and keyboard inputs to control the camera.

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