Code Documentation

Robot objects

class pybullet_industrial.robot_base.RobotBase(urdf_model: str, start_position: <Mock name='mock.array' id='140493028895840'>, start_orientation: <Mock name='mock.array' id='140493028895840'>, default_endeffector: str = None)

A Base class encapsulating a URDF based industrial robot manipulator

Parameters:

• urdf_model (str) – A valid path to a urdf file

• start_position (np.array) – The start position of the robot base

• start_orientation (np.array) – A quaternion describing the start orientation of the robot base

• default_endeffector (str, optional) – The default endeffector used when controlling the robots position

get_endeffector_pose(endeffector_name: str = None)

Returns the position of the endeffector in world coordinates

Parameters:

endeffector (str, optional) – The name of a different endeffector link

Returns:

The position of the endeffector np.array: The orientation of the endeffector as a quaternion

Return type:

np.array

get_joint_state()

Returns the position of each joint as a dictionary keyed with their name

Returns:

The state of all joinst

Return type:

Dict[str,Dict[str,float]]

get_world_state()

Returns the position and orientation of the robot relative to the world

Returns:

the 3 dimensional position vector of the robot base list: a 4 dimensional quaternion representing the orientation of the robot base

Return type:

list

reset_robot(start_position: <Mock name='mock.array' id='140493028895840'>, start_orientation: <Mock name='mock.array' id='140493028895840'>, joint_values: list = None)

resets the robots joints to 0 and the base to a specified position and orientation

Parameters:

• start_position (np.array) – a 3 dimensional position

• start_orientation (np.array) – a 4 dimensional quaternion representing the desired orientation

• joint_values (list) – Allows to reset the joint state of the robot given a list of positions. Defaults to None in which case the joints remain in their current configuration.

set_endeffector_pose(target_position: <Mock name='mock.array' id='140493028895840'>, target_orientation: <Mock name='mock.array' id='140493028895840'> = None, endeffector_name: str = None)

Sets the pose of a robots endeffector

Parameters:

• target_position (np.array) – The desired 3D position

• target_orientation (np.array, optional) – The desired orientation as a quaternion. Defaults to None.

• endeffector_name (str, optional) – The name of a different endeffector. Defaults to None.

set_joint_position(target: Dict[str, float], ignore_limits=False)

Sets the target position for a number of joints.

The maximum force of each joint is set according to the max_joint_force class attribute.

Parameters:

target (Dict[str, float]) – A dictionary containing the joint states to be set

Raises:

KeyError – If the specified joint state is not part of the Robot

set_world_state(start_position: <Mock name='mock.array' id='140493028895840'>, start_orientation: <Mock name='mock.array' id='140493028895840'>)

Resets the robots base to a specified position and orientation

Parameters:

• start_position (np.array) – a 3 dimensional position

• start_orientation (np.array) – a 4 dimensional quaternion representing the desired orientation

Endeffector tools

class pybullet_industrial.endeffector_tool.EndeffectorTool(urdf_model: str, start_position: <Mock name='mock.array' id='140493028895840'>, start_orientation: <Mock name='mock.array' id='140493028895840'>, coupled_robot: ~pybullet_industrial.robot_base.RobotBase = None, tcp_frame: str = None, connector_frame: str = None)

The base class for all Tools and Sensors connected to a Robot

Parameters:

• urdf_model (str) – A valid path to a urdf file describint the tool geometry

• start_position (np.array) – the position at which the tool should be spawned

• start_orientation (np.array) – the orientation at which the tool should be spawned

• coupled_robot (pi.RobotBase, optional) – A pybullet_omdistrial.RobotBase object if the robot is coupled from the start. Defaults to None.

• tcp_frame (str, optional) – The name of the urdf_link describing the tool center point. Defaults to None in which case the last link is used.

• connector_frame (str, optional) – The name of the urdf_link at which a robot connects. Defaults to None in which case the base link is used.

apply_tcp_force(force: <Mock name='mock.array' id='140493028895840'>, world_coordinates: bool = True)

Function which can apply a external Force at a the next simulation step.

Carefull, this does not behave as expected for setRealTimeSimulation(1)!

Parameters:

• force (np.array) – A 3 dimensional force vector in Newton.

• world_coordinates (bool, optional) – Specify wheter the force is defined in the world coordinates or the relative link frame. Defaults to True.

apply_tcp_torque(torque: <Mock name='mock.array' id='140493028895840'>)

Function which can apply a external Torque at a the next simulation step.

The local tcp_link frames are used as the main torque axis.

Carefull, this does not behave as expected for setRealTimeSimulation(1)!

Parameters:

torque (np.array) – A 3 dimensional torque vector in Newtonmeter.

couple(robot: RobotBase, endeffector_name: str = None)

Dynamically Couples the Tool with the Endeffector of a given robot. Note that this endeffector can also be a virtual link to connect a sensor. A Tool can only be coupled with one robot

Parameters:

• robot (pybullet_industrial.RobotBase) – The robot whith which the tool should couple.

• endeffector_name (str, optional) – The endeffector of the robot where the tool should couple to. Defaults to None.

Raises:

• ValueError – If the tool is already coupled.

• TypeError – if the object to couple is nof of class RobotBase.

decouple()

Decouples the tool from the current robot. In this case a new constraint is created rooting the tool in its current pose.

get_tool_pose(tcp_frame: str = None)

Returns the pose of the tool center point.

Using the tcp_frame argument the state of other links can also be returned

Parameters:

tcp_frame (str, optional) – the name of the link whose pose should be returned. Defaults to None in which case the default tcp is used

Returns:

The 3D position the link the world coordinate system np.array: A quaternion describing the orientation of the link in world coordinates

Return type:

np.array

is_coupled()

Function which returns true if the Tool is currently coupled to a robot

Returns:

1 if the tool is coupled, 0 if not

Return type:

bool

set_tool_pose(target_position: <Mock name='mock.array' id='140493028895840'>, target_orientation: <Mock name='mock.array' id='140493028895840'> = None)

Allows the control of the tool.

If the tool is coupled the inverse kinematic control of a coupled robot is used. If not the tool is moved directly.

Parameters:

• target_position (np.array) – the desired position of the tool center point (tcp)

• target_orientation (np.array, optional) – the desired position of the tool center point (tcp). If none is provided only the position of the robot is controlled.

class pybullet_industrial.raycaster.RayCaster(urdf_model: str, start_position: <Mock name='mock.array' id='140493028895840'>, start_orientation: <Mock name='mock.array' id='140493028895840'>, raycast_properties: ~typing.Dict, coupled_robot: ~pybullet_industrial.robot_base.RobotBase = None, tcp_frame: str = None, connector_frame: str = None)

Special Endeffector Tool which can cast rays. Base for Extruder and Remover classes.

Parameters:

• urdf_model (str) – A valid path to a urdf file describint the tool geometry

• start_position (np.array) – the position at which the tool should be spawned

• start_orientation (np.array) – the orientation at which the tool should be spawned

• raycast_properties (Dict) – A dictionary containing the properties of the extrusion head. During initialization only ‘material’ has to be set. Default Values are: ‘opening angle’:0,’number of rays’:1, ‘maximum distance’:1

• coupled_robot (RobotBase, optional) – A pybullet_industrial.RobotBase object if the robot is coupled from the start. Defaults to None.

• tcp_frame (str, optional) – The name of the urdf_link describing the tool center point. Defaults to None in which case the last link is used.

• connector_frame (str, optional) – The name of the urdf_link at which a robot connects. Defaults to None in which case the base link is used.

cast_rays(position: <Mock name='mock.array' id='140493028895840'>, orientation: <Mock name='mock.array' id='140493028895840'>)

Randomly casts rays withn a given range from a specified position and orientation

Parameters:

• position (np.array) – start position of the raycast

• orientation (np.array) – start orientation of the raycast

Returns:

The result of a raycast

Return type:

List

change_properties(new_properties: Dict)

Allows retroactive changes to the ray casting properties.

Parameters:

new_properties (Dict) – A dictionary containing values and keys that should be changed

Raises:

KeyError – If a key is not a valid property

Adding material

class pybullet_industrial.extruder.Extruder(urdf_model: str, start_position: <Mock name='mock.array' id='140493028895840'>, start_orientation: <Mock name='mock.array' id='140493028895840'>, extruder_properties: ~typing.Dict, coupled_robot: ~pybullet_industrial.robot_base.RobotBase = None, tcp_frame: str = None, connector_frame: str = None)

Special Endeffector Tool which can extrude material from its tcp.

Parameters:

• urdf_model (str) – A valid path to a urdf file describint the tool geometry

• start_position (np.array) – the position at which the tool should be spawned

• start_orientation (np.array) – the orientation at which the tool should be spawned

• extruder_properties (Dict) –

  A dictionary containing the properties of the extrusion head. During initialization only ‘material’ has to be set. Default Values are: ‘opening angle’:0,’number of rays’:1, ‘material properties’: {‘particle size’:0.03,

  ’color’ : [1, 0, 0, 1]},

  ’maximum distance’:1,’material’:Particle,

• coupled_robot (RobotBase, optional) – A pybullet_industrial.RobotBase object if the robot is coupled from the start. Defaults to None.

• tcp_frame (str, optional) – The name of the urdf_link describing the tool center point. Defaults to None in which case the last link is used.

• connector_frame (str, optional) – The name of the urdf_link at which a robot connects. Defaults to None in which case the base link is used.

Raises:

ValueError – If no material is provided during initialization.

calculate_process_force(ray_cast_results, tcp_frame=None)

Function calculating the process force of the milling tool.

Parameters:

• ray_cast_results (list) – The result of a batch ray cast as performed by the remove function

• tcp_frame (str) – The name of the tool center point frame. Defaults to None.

Returns:

a 3 dimensional array containing the process force in the x,y,z direction

Return type:

np.array

extrude(tcp_frame: str = None)

Extrudes material from the specified tcp_frame.

Parameters:

tcp_frame (str, optional) – the name of the link from which to extrude the material. Defaults to None in which case the default tcp is used

Removing material

class pybullet_industrial.remover.Remover(urdf_model: str, start_position: <Mock name='mock.array' id='140493028895840'>, start_orientation: <Mock name='mock.array' id='140493028895840'>, remover_properties: ~typing.Dict, coupled_robot: ~pybullet_industrial.robot_base.RobotBase = None, tcp_frame: str = None, connector_frame: str = None)

Special Remover Tool which can remove objects from the simulation.

Parameters:

• urdf_model (str) – A valid path to a urdf file describint the tool geometry

• start_position (np.array) – the position at which the tool should be spawned

• start_orientation (np.array) – the orientation at which the tool should be spawned

• remover_properties (Dict) – A dictionary containing the properties of the extrusion head. During initialization only ‘material’ has to be set. Default Values are: ‘opening angle’:0,’number of rays’:1, ‘maximum distance’:1

• coupled_robot (RobotBase, optional) – A pybullet_industrial.RobotBase object if the robot is coupled from the start. Defaults to None.

• tcp_frame (str, optional) – The name of the urdf_link describing the tool center point. Defaults to None in which case the last link is used.

• connector_frame (str, optional) – The name of the urdf_link at which a robot connects. Defaults to None in which case the base link is used.

calculate_process_force(ray_cast_results, tcp_frame=None)

Function calculating the process force of the milling tool.

Parameters:

• ray_cast_results (list) – The result of a batch ray cast as performed by the remove function

• tcp_frame (str) – The name of the tool center point frame. Defaults to None.

Returns:

a 3 dimensional array containing the process force in the x,y,z direction

Return type:

np.array

remove(tcp_frame=None)

Removes simulation elements from the simulation environment.

Parameters:

tcp_frame (str, optional) – the name of the link from which to remove the material. Defaults to None in which case the default tcp is used

class pybullet_industrial.milling_tool.MillingTool(urdf_model: str, start_position: <Mock name='mock.array' id='140493028895840'>, start_orientation: <Mock name='mock.array' id='140493028895840'>, milling_properties: ~typing.Dict, coupled_robot: ~pybullet_industrial.robot_base.RobotBase = None, tcp_frame: str = None, connector_frame: str = None)

A class implementing a milling tool. The tool is modeled as a set of teeth that remove material and apply forces on the tcp frame according to the kienzle model.

Parameters:

• urdf_model (str) – The path to the urdf model of the milling tool

• start_position (np.array) – The position of the tool center point

• start_orientation (np.array) – The orientation of the tool center point

• milling_properties (Dict) – A dictionary containing the properties of the milling tool. Default values are: ‘diameter’:0.05, ‘height’:0.01, ‘number of rays’:10,’rotation speed’:0.1, ‘number of teeth’:5 ‘material_specific_force’:2500,’chip_thickness_exponent’:0.26 The parameters kc11 and m_c are specific for the material.

• coupled_robot (RobotBase, optional) – A pybullet_industrial.RobotBase object if the robot is coupled from the start. Defaults to None.

• tcp_frame (str, optional) – The name of the urdf_link describing the tool center point. Defaults to None in which case the last link is used.

• connector_frame (str, optional) – The name of the urdf_link at which a robot connects. Defaults to None in which case the base link is used

calculate_process_force(ray_cast_results, tcp_frame=None)

Function calculating the process force of the milling tool.

Parameters:

• ray_cast_results (list) – The result of a batch ray cast as performed by the mill function

• tcp_frame (str) – The name of the tool center point frame. Defaults to None.

Returns:

a 3 dimensional array containing the process force in the x,y,z direction

Return type:

np.array

cast_rays(position: <Mock name='mock.array' id='140493028895840'>, orientation: <Mock name='mock.array' id='140493028895840'>, debug=False)

Randomly casts rays withn a given range from a specified position and orientation

Parameters:

• position (np.array) – start position of the raycast

• orientation (np.array) – start orientation of the raycast

• debug (bool, optional) – If true, the debug lines are drawn. Defaults to False.

Returns:

The result of a raycast

Return type:

List

change_properties(new_properties: Dict)

Allows retroactive changes to the ray casting properties.

Parameters:

new_properties (Dict) – A dictionary containing values and keys that should be changed

Raises:

KeyError – If a key is not a valid property

force_model(cutting_speed, cutting_depth, teeth_angles)

A force model that is used to calculate the force that is applied to the tool. :param cutting_speed: the speed at which the cutting tool is moved into the material :type cutting_speed: float :param cutting_depth: an array of the depth of the cutting tool at each tooth :type cutting_depth: np.array :param teeth_angles: the angles of the teeth on the tool :type teeth_angles: list

Returns:

an array of the force that is applied to the cutting tool at the tcp

Return type:

np.array

get_cutting_state(ray_cast_result, tcp_frame=None)

A helpfer function calculating the cutting depth and speed of the tool.

Parameters:

• ray_cast_result (list) – The result of a batch ray cast as performed by the mill function

• tcp_frame (str, optional) – The tool center point frame name. Defaults to None.

Returns:

the speed at which the cutting tool is moved into the material (np.array): an array of the depth of the cutting tool at each tooth

Return type:

float

mill(tcp_frame=None, debug=False)

Function that performs a milling operation.

Parameters:

• tcp_frame (str, optional) – The name of the tool center point frame. Defaults to None.

• debug (bool, optional) – If true, the debug lines are drawn. Defaults to False.

Returns:

A list containing the ids of the bodies that were removed

Return type:

list

Moving material

class pybullet_industrial.gripper.Gripper(urdf_model: str, start_position, start_orientation, coupled_robots=None, tcp_frame=None, connector_frames=None)

The base class for all Tools and Sensors connected to a Robot

Parameters:

• urdf_model (str) – A valid path to a urdf file describing the tool geometry

• start_position (np.array) – the position at which the tool should be spawned

• start_orientation (np.array) – the orientation at which the tool should be spawned

• coupled_robots (pi.RobotBase, optional) – A wbk_sim.Robot object if the robot is coupled from the start. Defaults to None.

• tcp_frame (str, optional) – The name of the urdf_link describing the tool center point. Defaults to None in which case the last link is used.

• connector_frames (str, optional) – The name of the urdf_link at which a robot connects. Defaults to None in which case the base link is used.

actuate(target: float)

Actuates the gripper.

Parameters:

target (float) – Relative amount of maximum travel distance the gripper should move

class pybullet_industrial.gripper.SuctionGripper(urdf_model: str, start_position, start_orientation, coupled_robots=None, tcp_frame=None, connector_frames=None, suction_links=None)

The base class for all Tools and Sensors connected to a Robot

Parameters:

• urdf_model (str) – A valid path to a urdf file describing the tool geometry

• start_position (np.array) – the position at which the tool should be spawned

• start_orientation (np.array) – the orientation at which the tool should be spawned

• coupled_robots (pi.RobotBase, optional) – A wbk_sim.Robot object if the robot is coupled from the start. Defaults to None.

• tcp_frame (str, optional) – The name of the urdf_link describing the tool center point. Defaults to None in which case the last link is used.

• connector_frames (str, optional) – The name of the urdf_link at which a robot connects. Defaults to None in which case the base link is used.

• suction_links (str, optional) – The names of the urdf_links wich represent the active suction parts. Defaults to all Links.

activate(tolerance=0.0001)

Function to activate the suction gripper creating constraints between gripper and object

Parameters:

tolerance (float, optional) – tolerance of contacts, i.e. at which distance the contact point is considered relevant.

Returns:

ids of coupled objects

Return type:

list[int]

deactivate()

Function to deactivate the suction gripper deleting constraints between gripper and object

Sensing

class pybullet_industrial.sensors.Camera(urdf_model: str, start_position: <Mock name='mock.array' id='140493028895840'>, start_orientation: <Mock name='mock.array' id='140493028895840'>, camera_parameters: ~typing.Dict, coupled_robot: ~pybullet_industrial.robot_base.RobotBase = None, camera_frame: str = None, connector_frame: str = None)

Special Endeffector Tool which can cast rays. Base for Extruder and Remover classes.

Parameters:

• urdf_model (str) – A valid path to a urdf file describint the tool geometry

• start_position (np.array) – the position at which the tool should be spawned

• start_orientation (np.array) – the orientation at which the tool should be spawned

• camera_parameters (Dict[str,float]) – A dictionary containing the camera parameters. Default Values are: ‘width’: 480, ‘height’: 240, ‘fov’: 60, ‘aspect ratio’: 1, ‘near plane distance’: 0.01, ‘far plane distance’: 100

• coupled_robot (RobotBase, optional) – A pybullet_industrial.RobotBase object if the robot is coupled from the start. Defaults to None.

• camera_frame (str, optional) – The name of the urdf_link at which the camera is located. Defaults to None in which case the last link is used.

• connector_frame (str, optional) – The name of the urdf_link at which a robot connects. Defaults to None in which case the base link is used.

get_image()

Captures a camera image of the current simulation

Returns:

A array of pixel colors in rgba format in 255 color format

Return type:

np.array

set_camera_parameters(camera_parameters: Dict)

Sets the camera parameters

Parameters:

camera_parameters (Dict[str,float]) – A dictionary containing the camera parameters

Raises:

KeyError – If a key is not a valid parameter

Materials

class pybullet_industrial.material.MetalVoxel(ray_cast_result: list, material_properties: Dict)

A simple voxel class for cutting and milling simulations

Parameters:

• ray_cast_result (list) – The result of a pybullet ray_cast as performed by the Extruder class.

• material_properties (Dict) – A dictionary containing the properties of the material. The default properties for a Metal Voxel are: ‘particle size’: 0.3, ‘color’: [1, 0, 0, 1]

get_position()

Returns the position of a particle in the world frame

Returns:

The three dimensional position of the particle

in the world coordinate system

Return type:

[float,float,float]

remove()

Function to actively remove the particle from the simulation. This function is deliberatly kept seperate from the __del__ method to prevent having to manually save particles if there is no intention of removing them.

class pybullet_industrial.material.Paint(ray_cast_result: list, material_properties: Dict)

A class for simple Paint particles which stick to objects and move with them.

The Paint particles are purely visible and have neither mass nor a collision mesh

Parameters:

• ray_cast_result (list) – The result of a pybullet ray_cast as performed by the extruder

• material_properties (Dict) – A dictionary containing the properties of the material. The default properties for Paint are: ‘particle size’: 0.3, ‘color’: [1, 0, 0, 1]

get_position()

Returns the position of a particle in the world frame

Returns:

The three dimensional position of the particle

in the world coordinate system

Return type:

[float,float,float]

static get_target_pose(target_id: int, target_link_id: int)

Returns the pose of a target objects link.

This function is used to calculate the relative position of the paint particle to the object it sticks to.

Parameters:

• target_id (int) – The unique id of the target object

• target_link_id (int) – The link id of the target object

Returns:

The position and orientation of the target object

Return type:

np.array, np.array

remove()

Function to actively remove the particle from the simulation. This function is deliberatly kept seperate from the __del__ method to prevent having to manually save particles if there is no intention of removing them.

class pybullet_industrial.material.Particle(ray_cast_result: list, material_properties: Dict)

A template class for material particles extruded by a extruder endeffector tool.

All materials should inherit from this class and implement its methods.

Parameters:

• ray_cast_result (list) –

  The result of a pybullet ray_cast as performed by the Extruder class. It is made up of: [objectUniqueId,

  linkIndex, hit fraction, hit position, hit normal]

• material_properties (Dict) – A dictionary containing the properties of the material

get_position()

Returns the position of a particle in the world frame

remove()

Function to actively remove the particle from the simulation. This function is deliberatly kept seperate from the __del__ method to prevent having to manually save particles if there is no intention of removing them.

set_material_properties(new_properties: Dict)

Checks if the matieral properties contain the proper keys

Parameters:

new_properties (Dict) – A dictionary containing the material properties

Raises:

KeyError – If a key is not a valid extruder property

class pybullet_industrial.material.Plastic(ray_cast_result: list, material_properties: Dict)

A class for simple particles which can be used for additive manufacturing.

The particles are infinitely rigid and stick to each other.

Parameters:

• ray_cast_result (list) –

  The result of a pybullet ray_cast as performed by the Extruder class. It is made up of: [objectUniqueId,

  linkIndex, hit fraction, hit position, hit normal]

• material_properties (Dict) – A dictionary containing the properties of the material. The default properties for Plastic are: ‘particle size’: 0.3, ‘color’: [1, 0, 0, 1]

get_position()

Returns the position of a particle in the world frame

Returns:

The three dimensional position of the particle

in the world coordinate system

Return type:

[float,float,float]

remove()

Function to actively remove the particle from the simulation. This function is deliberatly kept seperate from the __del__ method to prevent having to manually save particles if there is no intention of removing them.

pybullet_industrial.material.spawn_material_block(base_position: list, dimensions: list, material: Particle, material_properties: Dict)

Spawns a block of a give material.

Parameters:

• base_position ([float,float,float]) – The position of the lower left base corner of the block

• dimensions ([float,float,float]) – The dimensions of the block in [width,breath,height]

• material (Particle) – A particle that should be spawned

• material_properties (Dict) – A dictionary containing the properties of the material. It needs to contain a key ‘particle size’.

Returns:

A list of the spawned particles

Return type:

list[Particle]

Toolpaths

class pybullet_industrial.toolpath.ToolPath(positions: <Mock name='mock.array' id='140493028895840'>, orientations: <Mock name='mock.array' id='140493028895840'> = None, tool_acivations: <Mock name='mock.array' id='140493028895840'> = None)

A Base object for representing a toolpaths

Parameters:

• positions (np.array(3,n)) – A 3 dimensional array whith each dimension containing subsequent positions.

• orientations (np.array(4,n), optional) – A 4 dimensional array where each dimension describes a subsequent quaternion. Defaults to None in which case the orientation [0,0,0,1] is assumed.

• tool_acivations (np.array(n), optional) – A 1 dimensional array with boolean values describing wheter a tool is active at a given path pose. Defaults to None in which case the tool is always inactive.

Raises:

ValueError – If all given input arrays are different lengths.

append(tool_path)

Appends a given ToolPath object to the end of this tool path.

Parameters:

tool_path (ToolPath) – Another ToolPath object.

draw(pose: bool = False, color: list = [0, 0, 1])

Function which draws the path into the Debugin GUI.

The path can either be a line representing the positions or a series of coordinate systems representing the whole pose.

Parameters:

• orientation (bool, optional) – Flag which determins if only the path position is shown or the full pose. Defaults to False.

• color (list, optional) – The color of the line used for position only drawing. Defaults to [0, 0, 1].

get_start_pose()

Returns the start pose of the trajectory for initial positioning

Returns:

a 3D position vector np.array: a 4D quaternion describing the orientation

Return type:

np.array

prepend(tool_path)

Prepends a given ToolPath object to the start of this tool path.

Parameters:

tool_path (ToolPath) – Another ToolPath object.

rotate(quaternion: <Mock name='mock.array' id='140493028895840'>)

Rotates the vector by a given quaternion.

Can be combined with pybullet.getQuaternionFromEuler() for easier usage.

Parameters:

quaternion (np.array) – A 4 dimensional quaternion as a list or numpy array

translate(vector: <Mock name='mock.array' id='140493028895840'>)

Translates the whole path by a given vector

Parameters:

vector (np.array) – A 3D vector describing the path translation

pybullet_industrial.path_builders.build_box_path(center_position: <Mock name='mock.array' id='140493028895840'>, dimensions: <Mock name='mock.array' id='140493028895840'>, radius: float, orientation: <Mock name='mock.array' id='140493028895840'>, samples: int)

Build a box shaped path with rounded corners

Parameters:

• center_position (np.array) – The 3D center position of the box

• dimensions (np.array) – the length and width of the box

• radius (float) – the radius of the corners

• orientation (np.array) – A quaternion describing the orientation of the box

• samples (int) – The number of points in the box path

Returns:

The resulting Toolpath

Return type:

ToolPath

Utility functionality

pybullet_industrial.utility.draw_coordinate_system(position: <Mock name='mock.array' id='140493028895840'>, orientation: <Mock name='mock.array' id='140493028895840'>, length: float = 0.1, width: float = 2.0, life_time: float = 0, parent_id: int = -1, parent_index: int = -1)

This function draws a coordinate system at a given position

Parameters:

• position (np.array) – The 3D position of the coordinate system

• orientation (np.array) – The quaternion representing the orientation of the coordinate system

• length (float, optional) – The length of the lines. Defaults to 0.5.

• width (float, optional) – The width of the lines. Defaults to 2.0.

• life_time (float, optional) – How long the coordinate system remains before despawning. Defaults to 0 in wich case it remains forever.

pybullet_industrial.utility.draw_path(path: <Mock name='mock.array' id='140493028895840'>, color: list = [0.0, 1.0, 0.0], width: float = 2.0)

Draws a path in the workspace

Parameters:

• path (np.array(3,n)) – Array containing the points in the path

• color (list, optional) – RGB color. Defaults to [0.0,1.0,0.0].

• width (float, optional) – The width of the lines. Defaults to 2.0.

pybullet_industrial.utility.draw_point(point: <Mock name='mock.array' id='140493028895840'>, color: list = [0.0, 1.0, 0.0], length: float = 0.05, width: float = 2.0)

Draws a point in the worldspace as a cross of 3 lines

Parameters:

• pnt (np.array) – 3 dimensional point

• color (list, optional) – RGB color. Defaults to [0.0,1.0,0.0].

• length (float, optional) – The length of the lines. Defaults to 0.5.

• width (float, optional) – The width of the lines. Defaults to 2.0.

pybullet_industrial.utility.draw_robot_frames(robot: RobotBase, text_size: int = 1, length: float = 0.1, width: float = 2.0, life_time: float = 0)

Visualizes the coordinate Frames of each link of a robot

Parameters:

• robot (RobotBase) – a Robot object

• text_size (int, optional) – The size at which the text is rendered. Defaults to 1.

• length (float, optional) – The length of the lines. Defaults to 0.1.

• width (float, optional) – The width of the lines. Defaults to 2.0.

• life_time (float, optional) – How long the coordinate system remains before despawning. Defaults to 0 in wich case it remains forever.

pybullet_industrial.utility.get_object_id_from_mouse()

Returns the object ID and Link ID of an object when clicking on it

Returns:

The Id of the object int: The Id of its link

Return type:

int