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

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

.. autoapi-nested-parse::

   Utility tools that are specific to and can be used only with simulated instances of a robot.



Submodules
----------

.. toctree::
   :maxdepth: 1

   /autoapi/pyrcf/utils/sim_utils/pybullet_debug_robot/index
   /autoapi/pyrcf/utils/sim_utils/pybullet_robot_visualizer/index


Classes
-------

.. autoapisummary::

   pyrcf.utils.sim_utils.PybulletRobotVisualizer
   pyrcf.utils.sim_utils.PybulletDebugRobot
   pyrcf.utils.sim_utils.PbDebugRobotWithJointCallback


Package Contents
----------------

.. py:class:: 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.


   .. py:attribute:: sim_robot


   .. py:attribute:: _init_j


   .. py:attribute:: _ignore_joints_with_str


   .. py:attribute:: _default_base_pose


   .. py:attribute:: _base_pose_target


   .. py:attribute:: _enable_stepping
      :value: False



   .. py:attribute:: _j_names
      :value: []



   .. py:attribute:: _j_lower_lims
      :value: []



   .. py:attribute:: _j_upper_lims
      :value: []



   .. py:attribute:: _ok_to_run
      :value: True



   .. py:attribute:: _read_button_thread
      :value: None



   .. py:method:: run(sim_step_rate: float = 240, slider_update_rate: float = 10, additional_callbacks: List[Callable[[], None]] = None)

      Run the visualizer thread (non-blocking).

      :param sim_step_rate: 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).
      :type sim_step_rate: float, optional
      :param slider_update_rate: Update rate (Hz) for reading the joint sliders in
                                 pybullet GUI to update robot states. Defaults to 10.
      :type slider_update_rate: float, optional



   .. py:method:: close()

      Close the visualizer.



   .. py:method:: 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
      :classmethod:


      Visualizer for a PybulletRobot instance to test joint positioning etc.

      See `examples/utils_demo/demo_bullet_robot_visualizer.py`

      :param pb_robot: The PybulletRobot instance to load.
      :type pb_robot: PybulletRobot
      :param starting_joint_positions: Mapping from joint names to
                                       starting positions to be used during the visualisation. Defaults to zeros.
      :type starting_joint_positions: Mapping[str, float], optional
      :param ignore_joints_with_str: 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.
      :type ignore_joints_with_str: List[str], optional



.. 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


   .. py:attribute:: _viz_robot_id


   .. py:attribute:: _link_ids


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



   .. py:attribute:: _pb_keys
      :value: ['jointIndex', 'jointName', 'jointType']



   .. py:attribute:: num_js


   .. py:attribute:: j_infos


   .. py:attribute:: jinfo


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



   .. py:attribute:: joint_ids


   .. 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.