Env

class Env.Client(cfg)[source]

Pybullet client, Provides some interfaces for interacting with simulation scenes

__init__(cfg)[source]

Initialize a new PyBullet Client object.

Parameters:: cfg (Config) – Configuration object with various settings for the simulation.

get_client_id()[source]

Get the PyBullet client ID.

Returns:: The PyBullet client ID.
Return type:: int

get_datapath()[source]

Get the path to the PyBullet data files.

Returns:: The path to the PyBullet data files.
Return type:: str

disconnect()[source]: Disconnect from the PyBullet simulation. Save the recorder data if Blender is enabled.

wait(x)[source]

Pause the execution for a given number of seconds.

Parameters:: x (float) – Number of seconds to wait.

run(x=1)[source]

Step the simulation for a given number of steps.

Parameters:: x (int) – Number of simulation steps to run.

load_object(obj_name, model_path, object_position=[0, 0, 0], object_orientation=[0, 0, 0], scale=1, fixed_base=False)[source]

Load a given object into the PyBullet simulation environment.

Parameters:

obj_name (str) – The name of the object.
model_path (str) – The path to the URDF file for the object.
object_position (list) – The initial position of the object.
object_orientation (list) – The initial orientation of the object.
scale (float) – The scale of the object.
fixed_base (bool) – If True, the object is fixed in place.

Returns:

The ID of the loaded object in the PyBullet simulation.

Return type:

int

create_scene(json_path)[source]

Import the complete environment from the environment file based on the basic environment.

Parameters:: json_path (str) – Path to the scene JSON file.

remove_object(object)[source]

Remove an object from the scene.

Parameters:: object (int / str) – The ID or name of the object to remove.

change_object_joint_angle(object, joint_index, target_position, max_force=5)[source]

Change the state of a specific joint of the object.

Parameters:

object (int / str) – The ID or name of the object.
joint_index (int) – The index of the joint to be changed.
target_position (float) – The target position of the joint in radians.
max_force (float) – The maximum force to be applied to achieve the target position.

get_object_id(object_name)[source]

Get the ID of an object by its name.

Parameters:: object_name (str) – The name of the object.
Returns:: The ID of the object.
Return type:: int

resolve_object_id(object)[source]

Resolve the object ID from either an ID or name.

Parameters:: object (int / str) – The ID or name of the object.
Returns:: The ID of the object.
Return type:: int
Raises:: AssertionError – If the object name does not exist or the input type is incorrect.

print_object_joint_info(object)[source]

Print information about the links and joints of an object.

Parameters:: object (int / str) – The ID or name of the object.

get_object_pose(object)[source]

Retrieve the pose of a object.

Parameters:: object (int / str) – The ID or name of the object.
Returns:: The pose of the object.
Return type:: Pose

get_object_link_pose(object, link_id)[source]

Retrieve the pose of a given link of an object.

Parameters:

object (int / str) – The ID or name of the object.
link_id (int) – The ID of the link.

Returns:

The pose of the link.

Return type:

Pose

get_link_bounding_box(object, link_id)[source]

Retrieve the bounding box of a specific link of an object in the PyBullet simulation environment.

Parameters:

object (int / str) – The ID or name of the object.
link_id (int) – The ID of the link.

Returns:

The minimum and maximum x, y, z coordinates of the bounding box.

Return type:

list

get_bounding_box(object)[source]

Retrieve the bounding box of a given object in the PyBullet simulation environment.

Parameters:: object (int / str) – The ID or name of the object.
Returns:: The minimum and maximum x, y, z coordinates of the bounding box.
Return type:: list

get_all_link_bounding_box(object)[source]

Retrieve all bounding box of a given object in the PyBullet simulation environment.

Parameters:: object (int / str) – The ID or name of the object.
Returns:: The minimum and maximum x, y, z coordinates of the bounding box for all object link.
Return type:: list

register_object(object_id, model_path, scale=1.0)[source]

Register an object with the PyBullet-blender recorder.

Parameters:

object_id (int) – The ID of the object.
model_path (str) – The path to the model file of the object.
scale (float) – The scale of the object.

record_save()[source]: Save the current pybullet-blender recording to a file with a timestamped name.