concepts.dm.crowhat.impl.pybullet.pybullet_sim_interfaces.PyBulletSimulationControllerInterface#

class PyBulletSimulationControllerInterface[source]#

Bases: CrowSimulationControllerInterface

Methods

`get_action_counter`()
`get_crow_state`()	Get the state of the simulation interface.
`increment_action_counter`()
`reflex`(controller_name[, reflex_name])
`register_controller`(name, function)
`register_reflex`(controller_name, ...[, priority])
`register_state_getter`(state_getter)
`reset`()
`reset_action_counter`()
`restore_context`([verbose])
`restore_state`(state_identifier, **kwargs)
`restore_state_keep`(state_identifier[, ...])
`save_state`(**kwargs)
`step`(action, **kwargs)
`step_internal`(name, args, *kwargs)
`step_with_saved_state`(action, **kwargs)	Step with saved state.
`step_without_error`(action, **kwargs)

Attributes

`bullet_client`
`controller_reflexes`
`controllers`
`executor`
`mplib_client`
`saved_states`

__init__(bullet_client, mplib_client=None)[source]#

Parameters:

bullet_client (BulletClient)
mplib_client (MPLibClient | None)

__new__(**kwargs)#

get_action_counter()#

Return type:: int

get_crow_state()[source]#

Get the state of the simulation interface.

Return type:: CrowState

increment_action_counter()#

reflex(controller_name, reflex_name=None)#

Parameters:

controller_name (str)
reflex_name (str | Sequence[str] | None)

register_controller(name, function)[source]#

Parameters:

name (str)
function (Callable)

register_reflex(controller_name, reflex_name, function, priority=10)#

Parameters:

controller_name (str)
reflex_name (str)
function (Callable)
priority (int)

register_state_getter(state_getter)[source]#

Parameters:: state_getter (Callable[[PyBulletSimulationControllerInterface], CrowState])

reset()[source]#

reset_action_counter()#

restore_context(verbose=False, **kwargs)#

Parameters:: verbose (bool)

restore_state(state_identifier, **kwargs)[source]#

Parameters:: state_identifier (int)

restore_state_keep(state_identifier, action_counter=None, **kwargs)[source]#

Parameters:

state_identifier (int)
action_counter (int | None)

save_state(**kwargs)[source]#

Return type:: int

step(action, **kwargs)#

Parameters:: action (CrowControllerApplier)
Return type:: None

step_internal(name, *args, **kwargs)#

Parameters:: name (str)
Return type:: bool | None

step_with_saved_state(action, **kwargs)#

Step with saved state. If the execution fails, return False and the state identifier.

Parameters:: action (CrowControllerApplier) – the action to take.
Returns:: whether the execution is successful. int: the state identifier.
Return type:: bool

step_without_error(action, **kwargs)#

Parameters:: action (CrowControllerApplier)
Return type:: bool

property bullet_client#

property controller_reflexes: Dict[Tuple[str, str], CrowControllerReflex]#

property controllers: Dict[str, Callable]#

property executor: CrowExecutor | None#

property mplib_client#

property saved_states#