PyBulletClient

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

Bases: PyBulletBase, 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

`body_from_obj`	Create a PyBullet body from an OBJ file.
`cache_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`	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`	Checks if a `compas_fab.robots.Robot` has been cached for use with PyBullet.
`ensure_cached_robot_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`	Returns the editable copy of the robot's model for shadowing the state of the robot on the PyBullet server.
`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_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.

PyBulletClient

COMPAS