concepts.simulator.pybullet.world.BodyFullStateSaver

class BodyFullStateSaver

Bases: BulletSaver

Save and restore the full state of a body. That is, including both the state of the base link and all joints.

Methods

reset_client_id(client_id[, world])
reset_world(world)
restore()
save([body_state, joint_states])

Attributes

world

__init__(world, body_id, save=True)

Parameters:

• world (BulletWorld)

• body_id (int)

• save (bool)

__new__(**kwargs)

reset_client_id(client_id, world=None)

Parameters:

• client_id (int)

• world (BulletWorld | None)

reset_world(world)

Parameters:

world (BulletWorld)

restore()

save(body_state=None, joint_states=None)

Parameters:

• body_state (BodyState | None)

• joint_states (List[JointState] | None)

property world: BulletWorld