concepts.simulator.pybullet.world.BulletWorld#

class BulletWorld[source]#

Bases: object

Methods

`change_dynamics`(body_id, mass, lateral_friction)
`change_visual_color`(body_id, rgba[, link_id])
`check_collision`(a, b[, update])
`check_collision_single`(a, ignored_objects[, ...])	Check if the object is in collision with any object other than the ignored objects.
`get_all_mesh_info`(body_id)	Get the mesh filenames and transforms of all links of a body.
`get_batched_qpos`(names[, numpy])
`get_batched_qpos_by_id`(body_id, joint_ids[, ...])
`get_batched_qvel`(names[, numpy])
`get_batched_qvel_by_id`(body_id, joint_ids[, ...])
`get_body_index`(body_name)
`get_body_name`(body_id)
`get_body_state`(body_name)
`get_body_state_by_id`(body_id)
`get_collision_shape_data`(body_name)
`get_collision_shape_data_by_id`(body_id)
`get_constraint`(constraint_id)
`get_contact`([a, b, update])
`get_debug_camera`()
`get_free_joints`(body_id)	Get a list of indices corresponding to all non-fixed joints in the body.
`get_joint_info`(joint_name)
`get_joint_info_by_body`(body_id)
`get_joint_info_by_id`(body_id, joint_id)
`get_joint_state`(joint_name)
`get_joint_state_by_id`(body_id, joint_id)
`get_link_index`(link_name)
`get_link_index_with_body`(body_id, link_name)
`get_link_name`(body_id, link_id)
`get_link_state`(link_name[, fk])
`get_link_state_by_id`(body_id, link_id[, fk])
`get_mesh`(body_id[, zero_center, verbose, ...])	Get the point cloud of a body.
`get_mesh_box`(args, *kwargs)
`get_mesh_info`(body_id[, link_id])	Get the mesh filename and transform of a body or link.
`get_mesh_mesh`(args, *kwargs)
`get_pointcloud`(body_id[, points_per_geom, ...])	Get the point cloud of a body.
`get_pointcloud_box`(args, *kwargs)
`get_pointcloud_mesh`(args, *kwargs)
`get_qpos`(name)
`get_qpos_by_id`(body_id, joint_id)
`get_qvel`(name)
`get_qvel_by_id`(body_id, joint_id)
`get_single_contact_normal`(object_id, ...[, ...])
`get_state`(name[, type])
`get_supporting_objects_by_id`(body_id[, ...])	Get the bodies that are supporting the given body.
`get_trimesh`(body_id[, zero_center, verbose, ...])	Get the Trimesh triangle mesh of a body.
`get_trimesh_mesh`(args, *kwargs)
`get_visual_shape_data`(body_name)
`get_visual_shape_data_by_id`(body_id)
`get_xmat`(name[, type])
`get_xpos`(name[, type])
`get_xquat`(name[, type])
`is_collision_free`(a, b)
`notify_update`(body_id[, body_name, group])
`perform_collision_detection`()
`refresh_names`()
`register_additional_state_saver`(name, ...)
`register_managed_interface`(name, interface)
`render_image`(config[, image_size, ...])
`save_bodies`(body_identifiers)
`save_body`(body_identifier)
`save_world`()
`save_world_builtin`()
`set_batched_qpos`(names, qpos)
`set_batched_qpos_by_id`(body_id, joint_ids, qpos)
`set_body_state`(body_name, state)
`set_body_state2`(body_name, position, orientation)
`set_body_state2_by_id`(body_id, position, ...)
`set_body_state_by_id`(body_id, state)
`set_client_id`(client_id)
`set_debug_camera`(distance, yaw, pitch, target)
`set_joint_state`(joint_name, state)
`set_joint_state2`(joint_name, position[, ...])
`set_joint_state2_by_id`(body_id, joint_id, ...)
`set_joint_state_by_id`(body_id, joint_id, state)
`set_qpos`(name, qpos)
`set_qpos_by_id`(body_id, joint_id, qpos)
`transform_mesh`(mesh, pos, quat_xyzw)
`transform_mesh2`(mesh, pos, quat_xyzw, ...)
`transform_pcd`(raw_pcd, pos, quat_xyzw)
`transform_trimesh`(mesh, pos, quat_xyzw)
`unregister_additional_state_saver`(name)
`unregister_managed_interface`(name)
`update_contact`()

Attributes

`nr_bodies`
`nr_joints`
`nr_links`
`body_names`	The mapping from body name to body index.
`link_names`	The mapping from link name to link index.
`joint_names`	The mapping from joint name to joint index.
`global_names`	The mapping from global name to global identifier.
`body_base_link`	The mapping from body name to base link name.
`body_groups`	The mapping from group name to body indices.
`managed_interfaces`	The mapping from identifiers to interface objects.
`additional_state_savers`	The mapping from identifiers to additional state savers.

__getitem__(item)[source]#

__init__(client_id=None)[source]#

__new__(**kwargs)#

change_dynamics(body_id, mass, lateral_friction, link_id=-1)[source]#

Parameters:

body_id (int)
mass (float)
lateral_friction (float)
link_id (int)

change_visual_color(body_id, rgba, link_id=None)[source]#

check_collision(a, b, update=False)[source]#

Parameters:

Return type:

bool

check_collision_single(a, ignored_objects, ignore_self_collision=True, update=False)[source]#

Check if the object is in collision with any object other than the ignored objects.

Parameters:

a (int | LinkIdentifier | str)
ignored_objects (List[int])
ignore_self_collision (bool)
update (bool)

Return type:

bool

get_all_mesh_info(body_id)[source]#

Get the mesh filenames and transforms of all links of a body.

Parameters:: body_id (int)
Return type:: List[Tuple[str, float, ndarray, ndarray]]

get_batched_qpos(names, numpy=True)[source]#

get_batched_qpos_by_id(body_id, joint_ids, numpy=True)[source]#

get_batched_qvel(names, numpy=True)[source]#

get_batched_qvel_by_id(body_id, joint_ids, numpy=True)[source]#

get_body_index(body_name)[source]#

Parameters:: body_name (str | int)
Return type:: int

get_body_name(body_id)[source]#

Parameters:: body_id (int)
Return type:: str

get_body_state(body_name)[source]#

Parameters:: body_name (str)
Return type:: BodyState

get_body_state_by_id(body_id)[source]#

Parameters:: body_id (int)
Return type:: BodyState

get_collision_shape_data(body_name)[source]#

Parameters:: body_name (str)
Return type:: List[CollisionShapeData]

get_collision_shape_data_by_id(body_id)[source]#

Parameters:: body_id (int)
Return type:: List[CollisionShapeData]

get_constraint(constraint_id)[source]#

Parameters:: constraint_id (int)
Return type:: ConstraintInfo

get_contact(a=None, b=None, update=False)[source]#

Parameters:

a (int | LinkIdentifier | str | None)
b (int | LinkIdentifier | str | None)
update (bool)

Return type:

List[ContactInfo]

get_debug_camera()[source]#

Return type:: DebugCameraState

get_free_joints(body_id)[source]#

Get a list of indices corresponding to all non-fixed joints in the body.

Parameters:: body_id (int)
Return type:: List[int]

get_joint_info(joint_name)[source]#

Parameters:: joint_name (str)
Return type:: JointInfo

get_joint_info_by_body(body_id)[source]#

Parameters:: body_id (int)
Return type:: List[JointInfo]

get_joint_info_by_id(body_id, joint_id)[source]#

Parameters:

body_id (int)
joint_id (int)

Return type:

JointInfo

get_joint_state(joint_name)[source]#

Parameters:: joint_name (str)
Return type:: JointState

get_joint_state_by_id(body_id, joint_id)[source]#

Parameters:

body_id (int)
joint_id (int)

Return type:

JointState

get_link_index(link_name)[source]#

Parameters:: link_name (str | LinkIdentifier | Tuple[int, int])
Return type:: LinkIdentifier

get_link_index_with_body(body_id, link_name)[source]#

Parameters:

body_id (int)
link_name (str)

Return type:

int

get_link_name(body_id, link_id)[source]#

Parameters:

body_id (int)
link_id (int)

Return type:

str

get_link_state(link_name, fk=False)[source]#

Parameters:: link_name (str)
Return type:: LinkState

get_link_state_by_id(body_id, link_id, fk=False)[source]#

Parameters:

body_id (int)
link_id (int)

Return type:

LinkState

get_mesh(body_id, zero_center=True, verbose=False, mesh_filename=None, mesh_scale=1.0, use_visual_shape=False)[source]#

Get the point cloud of a body.

Parameters:

body_id (int) – the ID of the body.
zero_center (bool) – whether to zero-center the mesh (i.e., move the center of the mesh to the origin).
verbose (bool) – whether to print debug information.
mesh_filename (str | None) – the filename of the mesh. This should be provided if the body has a mesh shape but we can’t get it from the collision shape data.
mesh_scale (float) – the scale of the mesh. This should be provided if the body has a mesh shape but we can’t get it from the collision shape data.
use_visual_shape (bool)

Return type:

open3d.geometry.TriangleMesh

get_mesh_box(*args, **kwargs)[source]#

Parameters:: self (BulletWorld)

get_mesh_info(body_id, link_id=-1)[source]#

Get the mesh filename and transform of a body or link.

Parameters:

body_id (int)
link_id (int)

Return type:

Tuple[str, float, ndarray, ndarray]

get_mesh_mesh(*args, **kwargs)[source]#

Parameters:: self (BulletWorld)

get_pointcloud(body_id, points_per_geom=1000, zero_center=True, use_visual_shape=False)[source]#

Get the point cloud of a body.

Parameters:

body_id (int)
points_per_geom (int)
zero_center (bool)
use_visual_shape (bool)

Return type:

ndarray

get_pointcloud_box(*args, **kwargs)[source]#

Parameters:: self (BulletWorld)

get_pointcloud_mesh(*args, **kwargs)[source]#

Parameters:: self (BulletWorld)

get_qpos(name)[source]#

get_qpos_by_id(body_id, joint_id)[source]#

get_qvel(name)[source]#

get_qvel_by_id(body_id, joint_id)[source]#

get_single_contact_normal(object_id, support_object_id, deviation_tol=0.05, return_center=False)[source]#

Parameters:

object_id (int)
support_object_id (int)
deviation_tol (float)
return_center (bool)

Return type:

ndarray | Tuple[ndarray, ndarray]

get_state(name, type=None)[source]#

Parameters:

name (str)
type (str | None)

Return type:

BodyState | LinkState | JointState

get_supporting_objects_by_id(body_id, return_name=True)[source]#

Get the bodies that are supporting the given body.

Parameters:

body_id (int)
return_name (bool)

Return type:

List[str | int]

get_trimesh(body_id, zero_center=False, verbose=False, mesh_filename=None, mesh_scale=1.0, use_visual_shape=False)[source]#

Get the Trimesh triangle mesh of a body.

Parameters:

body_id (int) – the ID of the body.
zero_center (bool) – whether to zero-center the mesh (i.e., move the center of the mesh to the origin).
verbose (bool) – whether to print debug information.
mesh_filename (str | None) – the filename of the mesh. This should be provided if the body has a mesh shape but we can’t get it from the collision shape data.
mesh_scale (float) – the scale of the mesh. This should be provided if the body has a mesh shape but we can’t get it from the collision shape data.
use_visual_shape (bool)

Return type:

List[trimesh.Trimesh]

get_trimesh_mesh(*args, **kwargs)[source]#

Parameters:: self (BulletWorld)

get_visual_shape_data(body_name)[source]#

Parameters:: body_name (str)
Return type:: List[VisualShapeData]

get_visual_shape_data_by_id(body_id)[source]#

Parameters:: body_id (int)
Return type:: List[VisualShapeData]

get_xmat(name, type=None)[source]#

get_xpos(name, type=None)[source]#

get_xquat(name, type=None)[source]#

is_collision_free(a, b)[source]#

Parameters:

a (int | LinkIdentifier | str)
b (int | LinkIdentifier | str)

Return type:

bool

notify_update(body_id, body_name=None, group=None)[source]#

perform_collision_detection()[source]#

refresh_names()[source]#

register_additional_state_saver(name, saver_factory)[source]#

Parameters:

name (str)
saver_factory (Callable[[], BulletSaver])

register_managed_interface(name, interface)[source]#

Parameters:

name (str)
interface (Any)

render_image(config, image_size=None, normalize_depth=False)[source]#

Parameters:

config (CameraConfig)
image_size (Tuple[int, int] | None)
normalize_depth (bool)

Return type:

Tuple[ndarray, ndarray, ndarray]

save_bodies(body_identifiers)[source]#

Parameters:: body_identifiers (List[str | int])
Return type:: GroupSaver

save_body(body_identifier)[source]#

Parameters:: body_identifier (str | int)
Return type:: BodyFullStateSaver

save_world()[source]#

Return type:: WorldSaver

save_world_builtin()[source]#

Return type:: WorldSaverBuiltin

set_batched_qpos(names, qpos)[source]#

set_batched_qpos_by_id(body_id, joint_ids, qpos)[source]#

set_body_state(body_name, state)[source]#

Parameters:

body_name (str)
state (BodyState)

set_body_state2(body_name, position, orientation)[source]#

Parameters:

body_name (str)
position (ndarray)
orientation (ndarray)

set_body_state2_by_id(body_id, position, orientation)[source]#

Parameters:

body_id (int)
position (ndarray)
orientation (ndarray)

set_body_state_by_id(body_id, state)[source]#

Parameters:

body_id (int)
state (BodyState)

set_client_id(client_id)[source]#

set_debug_camera(distance, yaw, pitch, target)[source]#

Parameters:

distance (float)
yaw (float)
pitch (float)
target (Tuple[float, float, float])

set_joint_state(joint_name, state)[source]#

Parameters:

joint_name (str)
state (JointState)

set_joint_state2(joint_name, position, velocity=0.0)[source]#

Parameters:

joint_name (str)
position (float)
velocity (float)

set_joint_state2_by_id(body_id, joint_id, position, velocity=0.0)[source]#

Parameters:

body_id (int)
joint_id (int)
position (float)
velocity (float)

set_joint_state_by_id(body_id, joint_id, state)[source]#

Parameters:

body_id (int)
joint_id (int)
state (JointState)

set_qpos(name, qpos)[source]#

set_qpos_by_id(body_id, joint_id, qpos)[source]#

transform_mesh(mesh, pos, quat_xyzw)[source]#

Parameters:: mesh (open3d.geometry.TriangleMesh)

transform_mesh2(mesh, pos, quat_xyzw, current_pos, current_quat_xyzw)[source]#

Parameters:

mesh (open3d.geometry.TriangleMesh)
pos (ndarray)
quat_xyzw (ndarray)
current_pos (ndarray)
current_quat_xyzw (ndarray)

transform_pcd(raw_pcd, pos, quat_xyzw)[source]#

transform_trimesh(mesh, pos, quat_xyzw)[source]#

Parameters:: mesh (trimesh.Trimesh)

unregister_additional_state_saver(name)[source]#

Parameters:: name (str)

unregister_managed_interface(name)[source]#

Parameters:: name (str)

update_contact()[source]#

additional_state_savers: Dict[str, Callable[[], BulletSaver]]#: The mapping from identifiers to additional state savers.

body_base_link: Dict[str, str]#: The mapping from body name to base link name.

body_groups: Dict[str, List[int]]#: The mapping from group name to body indices.

body_names: _NameToIdentifier#: The mapping from body name to body index.

global_names: _NameToIdentifier#: The mapping from global name to global identifier.

joint_names: _NameToIdentifier#: The mapping from joint name to joint index.

link_names: _NameToIdentifier#: The mapping from link name to link index.

managed_interfaces: Dict[str, Any]#: The mapping from identifiers to interface objects.

property nr_bodies#

property nr_joints#

property nr_links#