pyrcf.components.callback_handlers

Defines custom callbacks that can be run in the control loop (pre-step and post-step).

Submodules

• pyrcf.components.callback_handlers.base_callbacks
• pyrcf.components.callback_handlers.pb_gui_callbacks
• pyrcf.components.callback_handlers.tkinter_gui_callbacks

Classes

CustomCallbackBase	Abstract base class for defining custom callbacks to be executed in the control loop.
RateTriggeredMultiCallbacks	Execute multiple CustomCallbackBase callbacks at the same specified (max) frequency.
PbGUIButtonCallback	Create a button in pybullet and specify the callback to apply the slider value to.
PbGUISliderCallback	Create a slider in pybullet and specify the callback to apply the slider value to.
PbDebugFrameVizCallback	Draw a coordinate frame in pybullet that changes its pose based on the pose
PbDebugPointsCallback	Visualise point(s)/sphere(s) in pybullet exposing a callback to change its position
PbMultiGUISliderSingleCallback	Create multiple sliders in pybullet and use values from all the sliders in a single
TkGUIButtonCallback	Create a button in Tk and specify the callback to call when button is pressed.
TkGUISliderCallback	Create a slider in pybullet and specify the callback to apply the slider value to.
TkMultiGUISliderSingleCallback	Create multiple sliders and use values from all the sliders in a single callback.

Package Contents

class pyrcf.components.callback_handlers.CustomCallbackBase

Bases: abc.ABC

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

abstract run_once() → None

To be called in loop.

cleanup() → None

Override if custom cleaning up/shutting down is required.

class pyrcf.components.callback_handlers.RateTriggeredMultiCallbacks(gui_callbacks: List[CustomCallbackBase], rate: float = None, clock: pyrcf.utils.time_utils.ClockBase = PythonPerfClock())

Bases: CustomCallbackBase

Execute multiple CustomCallbackBase callbacks at the same specified (max) frequency.

_callbacks: List[CustomCallbackBase] = []

add_callback(gui_callback: CustomCallbackBase)

Add an instance of PbGUISliderCallback or PbMultiGUISliderSingleCallback to the same rate trigger.

Parameters:

gui_callback (CustomCallbackBase) – The GUI callback instance to add.

run_once()

This method has to be called for the slider callbacks to be executed. Will only execute if the trigger rate is met.

cleanup()

Override if custom cleaning up/shutting down is required.

class pyrcf.components.callback_handlers.PbGUIButtonCallback(button_name: str, callback: Callable[[], None], cid: int)

Bases: PbGUICallback

Create a button in pybullet and specify the callback to apply the slider value to.

_button

_callback

run_once()

This method has to be called for checking button press and for the callback to be executed.

cleanup()

Override if custom cleaning up/shutting down is required.

class pyrcf.components.callback_handlers.PbGUISliderCallback(slider_name: str, slider_lower_lim: float, slider_upper_lim: float, slider_default_val: float, callback: Callable[[float], None], cid: int, run_only_if_value_changed: bool = True, mapping_function: Callable[[float], float] = lambda x: ...)

Bases: PbGUICallback

Create a slider in pybullet and specify the callback to apply the slider value to.

_slider

_check_first = True

_callback

run_once() → None

This method has to be called for the callback to be executed.

cleanup()

Override if custom cleaning up/shutting down is required.

class pyrcf.components.callback_handlers.PbDebugFrameVizCallback(callback: Callable[[], Tuple[Vector3D, QuatType]], cid: int, line_length: float = 0.2, line_width: float = 2, duration: float = 0.0)

Bases: PbGUICallback

Draw a coordinate frame in pybullet that changes its pose based on the pose returned by a callback function.

_frame_viz

_callback

run_once()

This method has to be called for for getting the pose from the callback function and updating the frame visualiser’s pose.

cleanup()

Override if custom cleaning up/shutting down is required.

class pyrcf.components.callback_handlers.PbDebugPointsCallback(callback: Callable[[], List[Vector3D]], cid: int, point_positions: List[Vector3D] = None, point_size: float = 1.0, rgb: Tuple[float, float, float] = (1, 0, 0), lifetime: float = 0.0)

Bases: PbGUICallback

Visualise point(s)/sphere(s) in pybullet exposing a callback to change its position in the world.

_points_viz

_callback

run_once()

To be called in loop.

cleanup()

Override if custom cleaning up/shutting down is required.

class pyrcf.components.callback_handlers.PbMultiGUISliderSingleCallback(slider_names: List[str], slider_lower_lims: List[float], slider_upper_lims: List[float], slider_default_vals: List[float], callback: Callable[[List[float]], None], cid: int, run_only_if_value_changed: bool = True, mapping_functions: Callable[[float], float] | List[Callable[[float], float]] = lambda x: ...)

Bases: PbGUICallback

Create multiple sliders in pybullet and use values from all the sliders in a single callback.

_sliders: List[pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider] = []

_check_first = True

_callback

run_once()

This method has to be called for the callback to be executed.

cleanup()

Override if custom cleaning up/shutting down is required.

get_sliders() → List[pyrcf.utils.gui_utils.pb_gui_utils.PybulletGUISlider]

Get a list of all slider objects.

Returns:

List of slider objects.

Return type:

List[PybulletGUISlider]

class pyrcf.components.callback_handlers.TkGUIButtonCallback(button_name: str, callback: Callable[[], None], tk_master: pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterWidgetMaster = None)

Bases: TkGUICallback

Create a button in Tk and specify the callback to call when button is pressed.

_button

_callback

run_once()

This method has to be called for checking button press and for the callback to be executed.

remove_gui_object()

class pyrcf.components.callback_handlers.TkGUISliderCallback(slider_name: str, slider_lower_lim: float, slider_upper_lim: float, slider_default_val: float, callback: Callable[[float], None], tk_master: pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterWidgetMaster = None, mapping_function: Callable[[float], float] = lambda x: ..., slider_resolution: float = 0.1)

Bases: TkGUICallback

Create a slider in pybullet and specify the callback to apply the slider value to.

_slider

_callback

run_once() → None

This method has to be called for the callback to be executed.

remove_gui_object()

class pyrcf.components.callback_handlers.TkMultiGUISliderSingleCallback(slider_names: List[str], slider_lower_lims: List[float], slider_upper_lims: List[float], slider_default_vals: List[float], callback: Callable[[List[float]], None], tk_master: pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterWidgetMaster = None, mapping_functions: Callable[[float], float] | List[Callable[[float], float]] = lambda x: ..., slider_resolutions: List[float] | float = 0.1)

Bases: TkGUICallback

Create multiple sliders and use values from all the sliders in a single callback.

_sliders: List[pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUISlider] = []

_callback

run_once()

This method has to be called for the callback to be executed.

remove_gui_object()

get_sliders() → List[pyrcf.utils.gui_utils.tkinter_gui_utils.TkinterGUISlider]