pyrcf.components.callback_handlers.pb_gui_utils

Attributes

`QuatType`	Numpy array representating quaternion in format [x,y,z,w]
`Vector3D`	Numpy array representating 3D cartesian vector in format [x,y,z]

Classes

`PybulletGUIButton`	Create a button in Pybullet GUI, and check if it was pressed.
`PybulletGUISlider`	Create a slider gui in pybullet.
`PybulletDebugFrameViz`	Draw a coordinate frame in pybullet as specified pose in the world.
`PybulletText`	Add text to pybullet sim world gui.
`PybulletTextWithRateTrigger`	Add text to pybullet sim world gui, that will only change at the
`PybulletDebugPoints`	Add 3D points to pybullet sim world gui.

Module Contents

pyrcf.components.callback_handlers.pb_gui_utils.QuatType: TypeAlias = np.ndarray: Numpy array representating quaternion in format [x,y,z,w]

pyrcf.components.callback_handlers.pb_gui_utils.Vector3D: TypeAlias = np.ndarray: Numpy array representating 3D cartesian vector in format [x,y,z]

class pyrcf.components.callback_handlers.pb_gui_utils.PybulletGUIButton(name: str, cid: int)

Create a button in Pybullet GUI, and check if it was pressed. Meant to be used in a loop.

cid

_id

_val = 1

reset(): Not really useful anymore (legacy)

was_pressed() → bool: Checks if this button was pressed since the last time this method was called.

remove(): Remove the button from the gui.

class pyrcf.components.callback_handlers.pb_gui_utils.PybulletGUISlider(name: str, lower_lim: float, upper_lim: float, default_val: float, cid: int, mapping_function: Callable[[float], float] = lambda x: ...)

Create a slider gui in pybullet.

cid

_id

_mapping_function

_last_recorded_val = None

get_value() → float: Read the value from the slider gui.

property last_read_value: float

value_changed() → bool

remove(): Remove the slider from gui.

abstract set_value(value: float)

class pyrcf.components.callback_handlers.pb_gui_utils.PybulletDebugFrameViz(cid: int, position: Vector3D = None, orientation: QuatType = np.array([0, 0, 0, 1]), line_length: float = 0.2, line_width: float = 2, duration: float = 0.0, draw_at_init: bool = True)

Draw a coordinate frame in pybullet as specified pose in the world.

_len

_lw

_duration

_cid

_line_ids

_draw_lines(pos: Vector3D, ori: QuatType)

update_frame_pose(position: Vector3D, orientation: QuatType)

Update the pose of an existing frame viz in pybullet.

Parameters:

position (Vector3D) – Position of coordinate frame in world.
orientation (QuatType) – Orientation quaternion of the frame in the world.

remove(): Remove the frame viz from gui.

class pyrcf.components.callback_handlers.pb_gui_utils.PybulletText(text_position: Tuple[float, float, float], default_text: str = '', text_color: Tuple[float, float, float] = (0, 0, 0), text_size: float = 3.0, lifetime: float = 0.0, cid: int = 0)

Add text to pybullet sim world gui.

cid

_pos

_color

_size

_t

_id

update_text(text: str)

Update the text string for this debug object.

Parameters:: text (str) – The new text to replace with.

remove(): Remove text from pybullet.

class pyrcf.components.callback_handlers.pb_gui_utils.PybulletTextWithRateTrigger(text_position: Tuple[float, float, float], rate: float = 1, default_text: str = '', text_color: Tuple[float, float, float] = (0, 0, 0), text_size: float = 3.0, lifetime: float = 0.0, cid: int = 0)

Bases: PybulletText

Add text to pybullet sim world gui, that will only change at the specified rate (even if update_text is called at a higher frequency). This is useful if this method is called in a high frequency loop such as a control loop, and text has to be rendered only at a lower frequency.

_trigger

update_text(text: str)

Update the text string for this debug object. Will only be triggered if the specified rate is satisified (lower bound).

Parameters:: text (str) – The new text to replace with.

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

Add 3D points to pybullet sim world gui.

_lifetime

_size

_rgb

_cid

_points_id

_draw_points(point_positions: List[Vector3D])

update_point_positions(point_positions: List[Vector3D])

Update the positions of the debug points in pybullet.

Parameters:: point_positions (List[Vector3D]) – List of positions for the points in world.

remove(): Remove the debug points object from pybullet.