pybullet_multibody.PyBulletMultiBody Class Reference

Inheritance diagram for pybullet_multibody.PyBulletMultiBody:

Public Member Functions
None	__init__ (self, str name, Any client, Dict[str, Any] global_config=None)
	get_object_data (self)
	Return the current state of the simulated object.
	pack_data (self, data_dict)
	Convert a state dictionary to a rigid_body_state_t message.
None	reset_component (self, channel, msg)
	Reset the object pose using a message.
Public Member Functions inherited from ark.system.component.sim_component.SimComponent
None	__init__ (self, str name, Dict[str, Any] global_config=None)
	step_component (self)
Public Member Functions inherited from ark.system.component.base_component.BaseComponent
None	__init__ (self, str name, Union[str, Dict[str, Any], Path] global_config)
None	component_channels_init (self, channels)

Public Attributes
	client = client
	ref_body_id
str	publisher_name = self.name + "/ground_truth/sim"
	state_publisher = self.component_channels_init([(self.publisher_name, rigid_body_state_t)])
Public Attributes inherited from ark.system.component.sim_component.SimComponent
	config = self._load_config_section(global_config=global_config, name=name, type="objects")
	publish_ground_truth = self.config["publish_ground_truth"]
str	reset_service_name = self.name + "/reset/sim/"
Public Attributes inherited from ark.system.component.base_component.BaseComponent
	name = name
	component_multi_publisher = self.create_multi_channel_publisher(channels)

Additional Inherited Members
Protected Attributes inherited from ark.system.component.base_component.BaseComponent
bool	_is_suspended = False

Detailed Description

Utility class for creating PyBullet multi-body objects.

Constructor & Destructor Documentation

__init__()

None pybullet_multibody.PyBulletMultiBody.__init__	(		self,
		str	name,
		Any	client,
		Dict[str, Any]	global_config = None )

Instantiate a PyBulletMultiBody object.

@param name Name of the object.
@param client Bullet client used for creation.
@param global_config Global configuration dictionary.
@return ``None``

Member Function Documentation

get_object_data()

pybullet_multibody.PyBulletMultiBody.get_object_data

(

self

)

Return the current state of the simulated object.

Returns

Dictionary with position, orientation and velocities of the object. @rtype Dict[str, Any]

Reimplemented from ark.system.component.sim_component.SimComponent.

pack_data()

pybullet_multibody.PyBulletMultiBody.pack_data	(		self,
			data_dict )

Convert a state dictionary to a rigid_body_state_t message.

Parameters

data_dict

Dictionary as returned by :func:get_object_data.

Returns

Mapping suitable for :class:MultiChannelPublisher. @rtype Dict[str, rigid_body_state_t]

Reimplemented from ark.system.component.sim_component.SimComponent.

reset_component()

None pybullet_multibody.PyBulletMultiBody.reset_component	(		self,
			channel,
			msg )

Reset the object pose using a message.

Parameters

channel	LCM channel on which the reset request was received.
msg	rigid_body_state_t containing the desired pose.

Returns

flag_t acknowledging the reset.

Reimplemented from ark.system.component.sim_component.SimComponent.

Member Data Documentation

client

pybullet_multibody.PyBulletMultiBody.client = client

publisher_name

str pybullet_multibody.PyBulletMultiBody.publisher_name = self.name + "/ground_truth/sim"

ref_body_id

pybullet_multibody.PyBulletMultiBody.ref_body_id

Initial value:

=  client.loadURDF(fileName=urdf_path, 
                                               basePosition=base_position, 
                                               baseOrientation=base_orientation, 
                                               globalScaling=global_scaling,
                                               useMaximalCoordinates=1)

state_publisher

pybullet_multibody.PyBulletMultiBody.state_publisher = self.component_channels_init([(self.publisher_name, rigid_body_state_t)])

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

• ark/system/pybullet/pybullet_multibody.py