concepts.simulator.pybullet.client.BulletClient#

class BulletClient[source]#

Bases: object

A wrapper for the pybullet client.

Methods

`absolute_timeout`(duration)
`add_debug_coordinate_system`(pos, principle_axes)
`add_debug_cube`(center, extent, color[, ...])
`add_debug_line`(start_pos, end_pos, color[, ...])
`add_debug_ray`(start_pos, delta, color[, ...])
`add_debug_text`(text, pos, color[, name, ...])
`add_nonphysics_step_callback`(cb)
`connect`([suppress_warnings])
`disable_rendering`([disable_rendering, ...])
`disable_stdout`([activate])
`disable_world_update`()	Temporarily disable the world update.
`disconnect`()
`get_mouse_events`()
`has_gui`()
`is_connected`()
`is_stable`([velocity_threshold, ...])
`load_mjcf`(xml_path[, pos, quat, body_name, ...])
`load_sdf`(xml_path[, scale, notify_world_update])
`load_urdf`(xml_path[, pos, quat, body_name, ...])
`load_urdf_template`(xml_path, replaces[, ...])
`loads_mjcf`(xml_content[, pos, quat, save_to])
`perform_collision_detection`()
`register_debug_item`(name, item_id)
`remove_body`(body_id)
`remove_debug_item`(item_id)
`remove_nonphysics_step_callback`(cb)
`reset_world`()
`set_enable_realtime_rendering`([...])
`set_rendering`(enable)
`set_rendering_fps`([render_fps])
`step`([steps, realtime_rendering])
`step_until_stable`([max_steps, ...])
`timeout`(duration)
`update_viewer`()
`update_viewer_twice`()
`wait_for_duration`(duration)
`wait_for_user`([message])
`wait_forever`()
`with_fps`([fps, render_fps, realtime_rendering])

Attributes

`DEFAULT_ASSETS_ROOT`
`DEFAULT_ENGINE_PARAMETERS`
`DEFAULT_FPS`
`DEFAULT_GRAVITY`
`world`	Alias for self.w.
`debug_items`	The debug items that are added to the world.

__init__(assets_root=None, is_gui=False, *, fps=None, render_fps=None, gravity=None, connect=True, client_id=-1, width=960, height=960, additional_title=None, save_video=None, enable_realtime_rendering=None, enable_debug_gui=False, engine_parameters=None)[source]#

Initialize the BulletClient.

Parameters:

assets_root (str | None) – the root directory of the assets (by default it is the assets directory in the concepts package).
is_gui (bool) – whether to enable the GUI.
fps (int | None) – the physics simulation FPS (default: 120).
render_fps (int | None) – the rendering FPS (default: 120).
gravity (Tuple[float] | float | None) – the gravity vector (default: (0, 0, -9.8)).
connect (bool) – whether to connect to the server immediately.
client_id (int) – the client id to connect to. If this is set to -1, a new client id will be created.
save_video (str | None) – the path to save the video.
width (int | None) – the width of the window.
height (int | None) – the height of the window.
additional_title (str | None) – the additional title of the window.
enable_debug_gui (bool) – whether to enable the debug GUI.
enable_realtime_rendering (bool | None) – whether to enable realtime rendering (default: True if render_fps is set, otherwise False).
engine_parameters (Dict[str, Any] | None) – additional engine parameters.

__new__(**kwargs)#

absolute_timeout(duration)[source]#

Parameters:: duration (float)

add_debug_coordinate_system(pos, principle_axes, size=0.1, name=None, life_time=0)[source]#

Parameters:: size (float)
Return type:: Tuple[int, …]

add_debug_cube(center, extent, color, name=None, life_time=0)[source]#

Return type:: Tuple[int, …]

add_debug_line(start_pos, end_pos, color, name=None, life_time=0)[source]#

Return type:: int

add_debug_ray(start_pos, delta, color, length=1.0, name=None, life_time=0)[source]#

Parameters:: length (float)
Return type:: int

add_debug_text(text, pos, color, name=None, life_time=0)[source]#

Return type:: int

add_nonphysics_step_callback(cb)[source]#

connect(suppress_warnings=True)[source]#

Parameters:: suppress_warnings (bool)

disable_rendering(disable_rendering=True, reset=False, suppress_stdout=False)[source]#

Parameters:

disable_rendering (bool)
reset (bool)
suppress_stdout (bool)

disable_stdout(activate=True)[source]#

Parameters:: activate (bool)

disable_world_update()[source]#: Temporarily disable the world update. Specifically, when loading a new model, the world object self.w will not be updated. This function also disables rendering of the pybullet debug renderer. Thus, this functionality is useful when loading a large number of models.

disconnect()[source]#

get_mouse_events()[source]#

Return type:: List[MouseEvent]

has_gui()[source]#

is_connected()[source]#

is_stable(velocity_threshold=1e-3, angular_velocity_threshold=1e-3, joint_velocity_threshold=1e-3)[source]#

Parameters:

velocity_threshold (float)
angular_velocity_threshold (float)
joint_velocity_threshold (float)

load_mjcf(xml_path, pos=(0, 0, 0), quat=(0, 0, 0, 1), body_name=None, group='__UNSET__', static=False, notify_world_update=True)[source]#

Return type:: int

load_sdf(xml_path, scale=1.0, notify_world_update=True)[source]#

Return type:: int

load_urdf(xml_path, pos=(0, 0, 0), quat=(0, 0, 0, 1), body_name=None, group='__UNSET__', static=False, scale=1.0, rgba=None, notify_world_update=True)[source]#

Parameters:

body_name (str | None)
group (str | None)
scale (float)

Return type:

int

load_urdf_template(xml_path, replaces, pos=None, quat=None, **kwargs)[source]#

Parameters:

xml_path (str)
replaces (Dict[str, Any])

Return type:

int

loads_mjcf(xml_content, pos=None, quat=None, save_to=None, **kwargs)[source]#

Return type:: int

perform_collision_detection()[source]#

register_debug_item(name, item_id)[source]#

Parameters:

name (str | None)
item_id (int | Tuple[int, ...])

Return type:

int | Tuple[int, …]

remove_body(body_id)[source]#

remove_debug_item(item_id)[source]#

Parameters:: item_id (str | int | Tuple[int, ...])

remove_nonphysics_step_callback(cb)[source]#

reset_world()[source]#

set_enable_realtime_rendering(enable_realtime_rendering=None)[source]#

Parameters:: enable_realtime_rendering (bool | None)

set_rendering(enable)[source]#

Parameters:: enable (bool)

set_rendering_fps(render_fps=None)[source]#

Parameters:: render_fps (int | None)

step(steps=1, realtime_rendering=None)[source]#

Parameters:: realtime_rendering (bool | None)

step_until_stable(max_steps=int(1e6), velocity_threshold=1e-3, angular_velocity_threshold=1e-3, joint_velocity_threshold=1e-3)[source]#

Parameters:

max_steps (int)
velocity_threshold (float)
angular_velocity_threshold (float)
joint_velocity_threshold (float)

timeout(duration)[source]#

Parameters:: duration (float)

update_viewer()[source]#

update_viewer_twice()[source]#

wait_for_duration(duration)[source]#

wait_for_user(message='Press enter to continue...')[source]#

wait_forever()[source]#

with_fps(fps=None, render_fps=None, realtime_rendering=None)[source]#

Parameters:

fps (int | None)
render_fps (int | None)
realtime_rendering (bool | None)

DEFAULT_ASSETS_ROOT = '/Users/jiayuanm/Projects/Concepts/concepts/assets'#

DEFAULT_ENGINE_PARAMETERS = {'numSolverIterations': 10}#

DEFAULT_FPS = 240#

DEFAULT_GRAVITY = (0, 0, -9.8)#

debug_items: Dict[str, int | Tuple[int, ...]]#: The debug items that are added to the world. The key is the name of the item, and the value is the item id.

property world#: Alias for self.w.