PyBulletClient

class compas_fab.backends.PyBulletClient(connection_type='gui', verbose=False)[source]

Bases: compas_fab.backends.pybullet.client.PyBulletBase, compas_fab.backends.interfaces.client.ClientInterface

Interface to use pybullet as backend.

compasfab.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_type (str) – Sets the connection type. Defaults to 'gui'.

• verbose (bool) – 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

__init__([connection_type, verbose])	Initialize self.
add_attached_collision_mesh(*args, **kwargs)	Forwards call to appropriate method in the planner.
add_collision_mesh(*args, **kwargs)	Forwards call to appropriate method in the planner.
append_collision_mesh(*args, **kwargs)	Forwards call to appropriate method in the planner.
body_from_obj(path[, scale, concavity, …])	Create a PyBullet body from an OBJ file.
cache_robot(robot)	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(robot)	Checks whether the robot and its attached collision objects with its current configuration is is colliding with any collision objects.
check_collisions(robot[, configuration])	Checks whether the current or given configuration is in collision.
check_robot_self_collision(robot)	Checks whether the robot and its attached collision objects with its current configuration is colliding with itself.
connect([shadows, color, width, height])	Connect from the PyBullet server.
convert_mesh_to_body(mesh, frame[, _name, …])	Convert compas mesh and its frame to a pybullet body.
disconnect()	Disconnect from the PyBullet server.
ensure_cached_robot(robot)	Checks if a compas_fab.robots.Robot has been cached for use with PyBullet.
ensure_cached_robot_geometry(robot)	Checks if the geometry of a compas_fab.robots.Robot has been cached for use with PyBullet.
filter_configurations_in_collision(robot, …)	Filters from a list of configurations those which are in collision.
forward_kinematics(*args, **kwargs)	Forwards call to appropriate method in the planner.
get_cached_robot(robot)	Returns the editable copy of the robot’s model for shadowing the state of the robot on the PyBullet server.
get_cached_robot_filepath(robot)	Returns the filepath of the editable copy of the robot’s model for shadowing the state of the robot on the PyBullet server.
get_planning_scene(*args, **kwargs)	Forwards call to appropriate method in the planner.
get_robot_configuration(robot)	Gets the robot’s current pose.
get_uid(cached_robot)	Returns the internal PyBullet id of the robot’s model for shadowing the state of the robot on the PyBullet server.
inverse_kinematics(*args, **kwargs)	Forwards call to appropriate method in the planner.
load_robot(urdf_file[, resource_loaders])	Create a pybullet robot using the input urdf file.
plan_cartesian_motion(*args, **kwargs)	Forwards call to appropriate method in the planner.
plan_motion(*args, **kwargs)	Forwards call to appropriate method in the planner.
reload_from_cache(robot)	Reloads the PyBullet server with the robot’s cached model.
remove_attached_collision_mesh(*args, **kwargs)	Forwards call to appropriate method in the planner.
remove_collision_mesh(*args, **kwargs)	Forwards call to appropriate method in the planner.
reset_planning_scene(*args, **kwargs)	Forwards call to appropriate method in the planner.
set_robot_configuration(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.

Attributes

is_connected

Indicates whether the client has an active connection.