pyrcf.utils.sim_utils.pybullet_debug_robot
==========================================

.. py:module:: pyrcf.utils.sim_utils.pybullet_debug_robot


Attributes
----------

.. autoapisummary::

   pyrcf.utils.sim_utils.pybullet_debug_robot.QuatType
   pyrcf.utils.sim_utils.pybullet_debug_robot.Vector3D


Classes
-------

.. autoapisummary::

   pyrcf.utils.sim_utils.pybullet_debug_robot.PybulletDebugRobot
   pyrcf.utils.sim_utils.pybullet_debug_robot.PbDebugRobotWithJointCallback


Module Contents
---------------

.. py:data:: QuatType
   :type:  TypeAlias
   :value: np.ndarray


   Numpy array representating quaternion in format [x,y,z,w]

.. py:data:: Vector3D
   :type:  TypeAlias
   :value: np.ndarray


   Numpy array representating 3D cartesian vector in format [x,y,z]

.. py:class:: PybulletDebugRobot(urdf_path: str, cid: int = 0, base_position: numpy.ndarray = np.zeros(3), base_orientation: numpy.array = np.array([0, 0, 0, 1]), rgba: Tuple[float, float, float, float] | None = (0, 0, 0, 0.3))

   A debugger robot visualiser for bullet robots. These robots are meant to be used for
   visualising ideal motion plans etc. for debugging (e.g. as a control loop debugger,
   implemented in `utils.ctrl_loop_debuggers.BulletRobotPlanDebugger`).


   .. py:attribute:: _cid
      :value: 0



   .. py:attribute:: _viz_robot_id


   .. py:attribute:: _link_ids


   .. py:attribute:: _visible
      :value: True



   .. py:attribute:: _actuated_joint_names
      :value: []



   .. py:attribute:: _joint_name_to_index


   .. py:method:: disable_visualisation()


   .. py:method:: set_visual_rgba(rgba: Tuple[float, float, float, float])


   .. py:method:: enable_visualisation()


   .. py:method:: toggle_visualisation()


   .. py:method:: set_base_pose(position: numpy.ndarray, orientation: numpy.ndarray)


   .. py:method:: set_joint_positions(joint_positions: numpy.ndarray, joint_names: List[str] = None)


   .. py:method:: close()


.. py:class:: PbDebugRobotWithJointCallback(urdf_path: str, cid: int, joint_names: List[str], get_joint_positions_callback: Callable[[], numpy.ndarray], get_base_pose_callback: Callable[[], Tuple[Vector3D, QuatType]] = lambda: None, base_position: numpy.ndarray = np.zeros(3), base_orientation: numpy.array = np.array([0, 0, 0, 1]), rgba: Tuple[float, float, float, float] | None = (0, 0, 0, 0.3))

   Bases: :py:obj:`pyrcf.components.callback_handlers.base_callbacks.CustomCallbackBase`


   Abstract base class for defining custom callbacks to be executed in the control loop.


   .. py:attribute:: _viz_robot


   .. py:attribute:: _joint_names


   .. py:attribute:: _js_callback


   .. py:attribute:: _bpose_callback


   .. py:method:: run_once()

      This method has to be called for setting the joint positions. This will
      run the callback method to get the desired joint positions.



   .. py:method:: cleanup()

      Override if custom cleaning up/shutting down is required.