pyrcf.utils.sim_utils.pybullet_robot_visualizer
Classes
Visualizer for a PybulletRobot instance to test joint positioning etc. |
Module Contents
- class pyrcf.utils.sim_utils.pybullet_robot_visualizer.PybulletRobotVisualizer(pb_sim_interface: pybullet_robot.BulletRobot, joint_lower_lims: Mapping[str, float], joint_upper_lims: Mapping[str, float], starting_joint_positions: Mapping[str, float] = None, ignore_joints_with_str: List[str] = None)
Visualizer for a PybulletRobot instance to test joint positioning etc.
See examples/utils_demo/demo_bullet_robot_visualizer.py.
Warning
DO NOT use other GUI utils for pybullet (other sliders, buttons etc), when using this. This class uses the removeAllUserParameters parameters exposed in pybullet, which means it can remove every debug item created externally.
TODO: fix this to only remove self-created items.
- sim_robot
- _init_j = None
- _ignore_joints_with_str = ['_wheel']
- _default_base_pose
- _base_pose_target
- _enable_stepping = False
- _j_names = []
- _j_lower_lims = []
- _j_upper_lims = []
- _ok_to_run = True
- _read_button_thread = None
- run(sim_step_rate: float = 240, slider_update_rate: float = 10, additional_callbacks: List[Callable[[], None]] = None)
Run the visualizer thread (non-blocking).
- Parameters:
sim_step_rate (float, optional) – The desired rate (Hz) for calling step simulation (This is not the timestep used in the physics of the simulation). Defaults to 240 (technically this should make it realtime).
slider_update_rate (float, optional) – Update rate (Hz) for reading the joint sliders in pybullet GUI to update robot states. Defaults to 10.
- close()
Close the visualizer.
- classmethod fromBulletRobot(pb_robot: pyrcf.components.robot_interfaces.simulation.pybullet_robot.PybulletRobot, starting_joint_positions: Mapping[str, float] = None, ignore_joints_with_str: List[str] = None) PybulletRobotVisualizer
Visualizer for a PybulletRobot instance to test joint positioning etc.
See examples/utils_demo/demo_bullet_robot_visualizer.py
- Parameters:
pb_robot (PybulletRobot) – The PybulletRobot instance to load.
starting_joint_positions (Mapping[str, float], optional) – Mapping from joint names to starting positions to be used during the visualisation. Defaults to zeros.
ignore_joints_with_str (List[str], optional) – List of substrings to look for in joint names, matching joints will be ignored from the joint sliders GUI (useful for joints such as wheels). Defaults to [“_wheel”] if None provided.