simulator Package

simulator Package

class SimulatedBody(name, body=None, actor=None, geom=None)

Bases: ars.model.simulator.SimulatedPhysicsObject

Class encapsulating the physics, collision and graphical objects representing a body.

All the public attributes of the physics object (_body) are accessible as if they were from this class, by using a trick with __getattr__. This avoids code duplication and frequent changes to the interface.

For example, the call sim_body.get_linear_velocity() works if method sim_body._body.get_linear_velocity exists.

There are some exceptions such as the getters and setters of position and rotation because the base class SimulatedPhysicsObject defines those abstract methods (some other non-abstract methods use them) and requires its subclasses to implement them. Otherwise we get “TypeError: Can’t instantiate abstract class SimulatedBody with abstract methods”.

body

get_position()

Get the position of the body.

Returns:position Return type:3-sequence of floats

get_rotation()

Get the orientation of the body.

Returns:rotation matrix Return type:9-sequence of floats

set_position(pos)

Set the orientation of the body.

Parameters:pos (3-sequence of floats) – position

set_rotation(rot)

Set the orientation of the body.

Parameters:rot (9-sequence of floats) – rotation matrix

class SimulatedJoint(name=None, joint=None, actor=None)

Bases: ars.model.simulator.SimulatedPhysicsObject

add_torque(torque)

get_position()

get_rotation()

joint

set_position(pos)

set_rotation(rot)

class SimulatedObject(name, actor=None)

Bases: object

actor

get_name()

has_actor()

is_updatable()

set_name(name)

class SimulatedPhysicsObject(name, actor=None)

Bases: ars.model.simulator.SimulatedObject

get_pose()

Get the pose (3D position and rotation) of the object.

Returns:pose Return type:ars.utils.geometry.Transform

get_position()

Get the position of the object.

Returns:position Return type:3-sequence of floats

get_rotation()

Get the orientation of the object.

Returns:rotation matrix Return type:9-sequence of floats

offset_by_object(obj)

offset_by_position(offset_pos)

rotate(axis, angle)

Rotate the object by applying a rotation matrix defined by the given axis and angle

set_pose(pose)

Set the pose (3D position and rotation) of the object.

Parameters:pose (ars.utils.geometry.Transform) –

set_position(pos)

Set the orientation of the object.

Parameters:pos (3-sequence of floats) – position

set_rotation(rot)

Set the orientation of the object.

Parameters:rot (9-sequence of floats) – rotation matrix

update_actor()

If there is no actor, it won’t do anything

class Simulation(FPS, STEPS_PF)

Bases: object

actors

Return a dict with each object actor indexed by the object name.

add_axes()

add_ball_socket_joint(name, obj1, obj2, anchor)

Adds a “ball and socket” joint between obj1 and obj2, at the specified anchor. If anchor is None, it will be set equal to the position of obj2.

add_basic_simulation_objects(gravity=(0.0, -9.81, 0.0))

Create the basic simulation objects needed for physics and collision such as a contact group (holds temporary contact joints generated during collisions), a simulation ‘world’ (where physics objects are processed) and a collision space (the same thing for geoms and their intersections).

Parameters:gravity (3 floats tuple.) – Gravity acceleration.

add_box(size, center, mass=None, density=None)

add_capsule(length, radius, center, mass=None, density=None)

add_cylinder(length, radius, center, mass=None, density=None)

add_fixed_joint(obj1, obj2)

add_floor(normal=(0, 1, 0), dist=0, box_size=(5, 0.1, 5), box_center=(0, 0, 0), color=(0.2, 0.5, 0.5))

Create a plane geom to simulate a floor. It won’t be used explicitly later (space object has a reference to it)

add_joint(sim_joint)

add_object(sim_object)

Add sim_object to the internal dictionary of simulated objects.

If its name equals an already registered key, it will be modified using its string representation, for example:

>>> add_object(sim_object)
sphere/<ars.model.simulator.SimulatedBody object at 0x3a4bed0>

Parameters:sim_object (SimulatedObject) – object to add Returns:name/key of the object Return type:string

add_rotary_joint(name, obj1, obj2, anchor, axis)

Adds a rotary joint between obj1 and obj2, at the specified anchor and with the given axis. If anchor is None, it will be set equal to the position of obj2

add_slider_joint(name, obj1, obj2, axis)

Add a jo.Slider joint between obj1 and obj2.

The only movement allowed is translation along axis.

Returns:the name under which the slider was stored, which could be different from the given name

add_sphere(radius, center, mass=None, density=None)

add_trimesh_floor(vertices, faces, center=(0, 0, 0), color=(0.2, 0.5, 0.5))

add_universal_joint(obj1, obj2, anchor, axis1, axis2)

collision_space

get_bodies()

Return a list with all the bodies included in the simulation.

Returns:list of SimulatedBody objects

get_joint(name)

get_object(name)

gravity

joints

objects

on_idle()

perform_sim_steps_per_frame()

sim_time

time_step

update_actors()

Update pose of each simulated object’s corresponding actor.

signals Module

This module contains string values defining different signals related to the ars.model.simulator package.