pyrcf.utils.sim_utils.pybullet_debug_robot

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

`PybulletDebugRobot`	A debugger robot visualiser for bullet robots. These robots are meant to be used for
`PbDebugRobotWithJointCallback`	Abstract base class for defining custom callbacks to be executed in the control loop.

Module Contents

pyrcf.utils.sim_utils.pybullet_debug_robot.QuatType: TypeAlias = np.ndarray: Numpy array representating quaternion in format [x,y,z,w]

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

class pyrcf.utils.sim_utils.pybullet_debug_robot.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).

_cid

_viz_robot_id

_link_ids

_visible = True

_pb_keys = ['jointIndex', 'jointName', 'jointType']

num_js

j_infos

jinfo

_actuated_joint_names = []

joint_ids

_joint_name_to_index

disable_visualisation()

set_visual_rgba(rgba: Tuple[float, float, float, float])

enable_visualisation()

toggle_visualisation()

set_base_pose(position: numpy.ndarray, orientation: numpy.ndarray)

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

close()

class pyrcf.utils.sim_utils.pybullet_debug_robot.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 : ..., 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: pyrcf.components.callback_handlers.base_callbacks.CustomCallbackBase

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

_viz_robot

_joint_names

_js_callback

_bpose_callback

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.

cleanup(): Override if custom cleaning up/shutting down is required.