Inheritance diagram for pybullet_backend.PyBulletBackend:

Public Member Functions
None	initialize (self)
	Initialize the PyBullet world.
bool	is_ready (self)
	Check whether the backend has finished initialization.
None	set_gravity (self, tuple[float] gravity)
	Set the world gravity.
None	set_time_step (self, float time_step)
	Set the simulation timestep.
	add_robot (self, str name, Dict[str, Any] robot_config)
	ROBOTS, SENSORS AND OBJECTS ####.
None	add_sim_component (self, str name, Dict[str, Any] obj_config)
	Add a generic simulated object.
None	add_sensor (self, str name, Dict[str, Any] sensor_config)
	Instantiate and register a sensor.
None	remove (self, str name)
	Remove a component from the simulator.
None	step (self)
	Advance the simulation by one timestep.
	save_render (self)
	Render the scene and write the image to disk.
None	reset_simulator (self)
	Reset the entire simulator state.
float	get_current_time (self)
	Return the current simulation time.
	shutdown_backend (self)
	Disconnect all components and shut down the backend.
Public Member Functions inherited from ark.system.simulation.simulator_backend.SimulatorBackend
None	__init__ (self, Dict[str, Any] global_config)
	Create and initialize the backend.

Public Attributes
	client = self._connect_pybullet(self.global_config)
	save_render_config = self.global_config["simulator"].get("save_render", None)
	save_path = Path(self.save_render_config.get("save_path", "output/save_render"))
	save_interval = self.save_render_config.get("save_interval", 1 / 30)
	overwrite_file = self.save_render_config.get("overwrite_file", False)
	extrinsics = self.save_render_config.get("extrinsics", default_extrinsics)
	intrinsics = self.save_render_config.get("intrinsics", default_intrinsics)
Public Attributes inherited from ark.system.simulation.simulator_backend.SimulatorBackend
dict	robot_ref = {}
dict	object_ref = {}
dict	sensor_ref = {}
bool	ready = False
	global_config = global_config

Protected Member Functions
	_connect_pybullet (self, dict[str, Any] config)
	Create and return the Bullet client.
	_all_available (self)
	SIMULATION ####.
Protected Member Functions inherited from ark.system.simulation.simulator_backend.SimulatorBackend
None	_step_sim_components (self)
	Step all registered components.
None	_spin_sim_components (self)
	Spin components in manual mode.

Protected Attributes
float	_rendered_time = -1.0
	_time_step = time_step
Protected Attributes inherited from ark.system.simulation.simulator_backend.SimulatorBackend
float	_simulation_time = 0.0

Detailed Description

Backend wrapper around the PyBullet client.

This class handles scene creation, stepping the simulation and managing
simulated components such as robots, objects and sensors.

Member Function Documentation

◆ _all_available()

pybullet_backend.PyBulletBackend._all_available ( self )

protected

SIMULATION ####.

Check whether all registered components are active.

Returns: True if no component is suspended. @rtype bool

◆ _connect_pybullet()

pybullet_backend.PyBulletBackend._connect_pybullet	(		self,
		dict[str, Any]	config )

protected

Create and return the Bullet client.

config must contain the connection_mode under the simulator section. Optionally mp4 can be provided to enable video recording.

Parameters

config Global configuration dictionary.

Returns: Initialized :class:BulletClient instance. @rtype BulletClient

◆ add_robot()

pybullet_backend.PyBulletBackend.add_robot	(		self,
		str	name,
		Dict[str, Any]	robot_config )

ROBOTS, SENSORS AND OBJECTS ####.

Instantiate and register a robot in the simulation.

Parameters

name	Identifier for the robot.
robot_config	Robot specific configuration dictionary.

Reimplemented from ark.system.simulation.simulator_backend.SimulatorBackend.

◆ add_sensor()

None pybullet_backend.PyBulletBackend.add_sensor	(		self,
		str	name,
		Dict[str, Any]	sensor_config )

Instantiate and register a sensor.

Parameters

name	Name of the sensor component.
sensor_config	Sensor configuration dictionary.

Reimplemented from ark.system.simulation.simulator_backend.SimulatorBackend.

◆ add_sim_component()

None pybullet_backend.PyBulletBackend.add_sim_component	(		self,
		str	name,
		Dict[str, Any]	obj_config )

Add a generic simulated object.

Parameters

name	Name of the object.
obj_config	Object specific configuration dictionary.

Reimplemented from ark.system.simulation.simulator_backend.SimulatorBackend.

◆ get_current_time()

float pybullet_backend.PyBulletBackend.get_current_time ( self )

Return the current simulation time.

Returns: Elapsed simulation time in seconds. @rtype float

◆ initialize()

None pybullet_backend.PyBulletBackend.initialize ( self )

Initialize the PyBullet world.

The method creates the Bullet client, configures gravity and time step and loads all robots, objects and sensors defined in self.global_config. Optional frame capture settings are applied as well.

Reimplemented from ark.system.simulation.simulator_backend.SimulatorBackend.

◆ is_ready()

bool pybullet_backend.PyBulletBackend.is_ready ( self )

Check whether the backend has finished initialization.

Returns: True once all components were created and the simulator is ready for stepping. @rtype bool

Reimplemented from ark.system.simulation.simulator_backend.SimulatorBackend.

◆ remove()

None pybullet_backend.PyBulletBackend.remove	(		self,
		str	name )

Remove a component from the simulator.

Parameters

name	Name of the robot, object or sensor to remove.

Reimplemented from ark.system.simulation.simulator_backend.SimulatorBackend.

◆ reset_simulator()

None pybullet_backend.PyBulletBackend.reset_simulator ( self )

Reset the entire simulator state.

All robots, objects and sensors are destroyed and the backend is re-initialized using self.global_config.

Reimplemented from ark.system.simulation.simulator_backend.SimulatorBackend.

◆ save_render()

pybullet_backend.PyBulletBackend.save_render ( self )

Render the scene and write the image to disk.

The image is saved either as render.png when overwriting or with the current simulation time as filename when not.

◆ set_gravity()

None pybullet_backend.PyBulletBackend.set_gravity	(		self,
		tuple[float]	gravity )

Set the world gravity.

Parameters

gravity Tuple (gx, gy, gz) specifying gravity in m/s^2.

Reimplemented from ark.system.simulation.simulator_backend.SimulatorBackend.

◆ set_time_step()

None pybullet_backend.PyBulletBackend.set_time_step	(		self,
		float	time_step )

Set the simulation timestep.

Parameters

time_step Length of a single simulation step in seconds.

◆ shutdown_backend()

pybullet_backend.PyBulletBackend.shutdown_backend ( self )

Disconnect all components and shut down the backend.

This should be called at program termination to cleanly close the simulator and free all resources.

Reimplemented from ark.system.simulation.simulator_backend.SimulatorBackend.

◆ step()

None pybullet_backend.PyBulletBackend.step ( self )

Advance the simulation by one timestep.

The method updates all registered components, advances the physics engine and optionally saves renders when enabled.

Reimplemented from ark.system.simulation.simulator_backend.SimulatorBackend.

Member Data Documentation

◆ _rendered_time

pybullet_backend.PyBulletBackend._rendered_time = -1.0

protected

◆ _time_step

pybullet_backend.PyBulletBackend._time_step = time_step

protected

◆ client

pybullet_backend.PyBulletBackend.client = self._connect_pybullet(self.global_config)

◆ extrinsics

pybullet_backend.PyBulletBackend.extrinsics = self.save_render_config.get("extrinsics", default_extrinsics)

◆ intrinsics

pybullet_backend.PyBulletBackend.intrinsics = self.save_render_config.get("intrinsics", default_intrinsics)

◆ overwrite_file

pybullet_backend.PyBulletBackend.overwrite_file = self.save_render_config.get("overwrite_file", False)

◆ save_interval

pybullet_backend.PyBulletBackend.save_interval = self.save_render_config.get("save_interval", 1 / 30)

◆ save_path

pybullet_backend.PyBulletBackend.save_path = Path(self.save_render_config.get("save_path", "output/save_render"))

◆ save_render_config

pybullet_backend.PyBulletBackend.save_render_config = self.global_config["simulator"].get("save_render", None)

The documentation for this class was generated from the following file:

ark/system/pybullet/pybullet_backend.py

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ _all_available()

◆ _connect_pybullet()

◆ add_robot()

◆ add_sensor()

◆ add_sim_component()

◆ get_current_time()

◆ initialize()

◆ is_ready()

◆ remove()

◆ reset_simulator()

◆ save_render()

◆ set_gravity()

◆ set_time_step()

◆ shutdown_backend()

◆ step()

Member Data Documentation

◆ _rendered_time

◆ _time_step

◆ client

◆ extrinsics

◆ intrinsics

◆ overwrite_file

◆ save_interval

◆ save_path

◆ save_render_config