PyBulletClient

class compas_fab.backends.PyBulletClient

Bases: PyBulletBase, ClientInterface

Interface to use pybullet as backend.

compas_fab.backends.PyBulletClient is a context manager type, so it’s best used in combination with the with statement to ensure resource deallocation.

Thanks to Yijiang Huang and his work in pybullet_planning for much inspiration.

Parameters:

connection_typestr

Sets the connection type. Defaults to 'gui'.

verbosebool

Use verbose logging. Defaults to False.

Examples

>>> from compas_fab.backends import PyBulletClient
>>> with PyBulletClient(connection_type='direct') as client:
...     print('Connected: %s' % client.is_connected)
Connected: True

Methods

body_from_obj	Create a PyBullet body from an OBJ file.
cache_robot_model	Saves an editable copy of the robot's model and its meshes for shadowing the state of the robot on the PyBullet server.
check_collision_objects_for_collision	Checks whether any of the collision objects are colliding.
check_collision_with_objects	Checks whether the robot and its attached collision objects with its current configuration is is colliding with any collision objects.
check_collisions	Checks whether the current or given configuration is in collision.
check_robot_self_collision	Checks whether the robot and its attached collision objects with its current configuration is colliding with itself.
convert_mesh_to_body	Convert compas mesh and its frame to a pybullet body.
ensure_cached_robot_model	Checks if a compas_fab.robots.Robot has been cached for use with PyBullet.
ensure_cached_robot_model_geometry	Checks if the geometry of a compas_fab.robots.Robot has been cached for use with PyBullet.
filter_configurations_in_collision	Filters from a list of configurations those which are in collision.
get_cached_robot_filepath	Returns the filepath of the editable copy of the robot's model for shadowing the state of the robot on the PyBullet server.
get_cached_robot_model	Returns the editable copy of the robot's model for shadowing the state of the robot on the PyBullet server.
get_robot_configuration	Gets the robot's current pose.
get_uid	Returns the internal PyBullet id of the robot's model for shadowing the state of the robot on the PyBullet server.
load_robot	Create a pybullet robot using the input urdf file.
load_semantics	Loads the semantic information of a robot.
load_ur5	"Load a UR5 robot to PyBullet.
reload_from_cache	Reloads the PyBullet server with the robot's cached model.
set_robot_configuration	Sets the robot's pose to the given configuration.
step_simulation	By default, the physics server will not step the simulation, unless you explicitly send a step_simulation command.

Inherited Methods

add_attached_collision_mesh	Forwards call to appropriate method in the planner.
add_collision_mesh	Forwards call to appropriate method in the planner.
append_collision_mesh	Forwards call to appropriate method in the planner.
connect	Connect from the PyBullet server.
disconnect	Disconnect from the PyBullet server.
forward_kinematics	Forwards call to appropriate method in the planner.
get_planning_scene	Forwards call to appropriate method in the planner.
inverse_kinematics	Forwards call to appropriate method in the planner.
plan_cartesian_motion	Forwards call to appropriate method in the planner.
plan_motion	Forwards call to appropriate method in the planner.
remove_attached_collision_mesh	Forwards call to appropriate method in the planner.
remove_collision_mesh	Forwards call to appropriate method in the planner.
reset_planning_scene	Forwards call to appropriate method in the planner.