pyrep package

Submodules

pyrep.const module

class pyrep.const.ConfigurationPathAlgorithms

Bases: enum.Enum

An enumeration.

BITstar = 'BITstar'
BKPIECE1 = 'BKPIECE1'
BiTRRT = 'BiTRRT'
CForest = 'CForest'
EST = 'EST'
FMT = 'FMT'
KPIECE1 = 'KPIECE1'
LBKPIECE1 = 'LBKPIECE1'
LBTRRT = 'LBTRRT'
LazyPRM = 'LazyPRM'
LazyPRMstar = 'LazyPRMstar'
LazyRRT = 'LazyRRT'
PDST = 'PDST'
PRM = 'PRM'
PRMstar = 'PRMstar'
RRT = 'RRT'
RRTConnect = 'RRTConnect'
RRTstar = 'RRTstar'
SBL = 'SBL'
SPARS = 'SPARS'
SPARStwo = 'SPARStwo'
STRIDE = 'STRIDE'
TRRT = 'TRRT'
pRRT = 'pRRT'
pSBL = 'pSBL'
class pyrep.const.JointMode

Bases: enum.Enum

An enumeration.

DEPENDENT = 4
FORCE = 5
IK = 2
IK_DEPENDENT = 3
PASSIVE = 0
class pyrep.const.JointType

Bases: enum.Enum

An enumeration.

PRISMATIC = 11
REVOLUTE = 10
SPHERICAL = 12
class pyrep.const.ObjectType

Bases: enum.Enum

An enumeration.

ALL = -2
CAMERA = 3
DUMMY = 4
FORCE_SENSOR = 12
GRAPH = 2
JOINT = 1
LIGHT = 13
MILl = 11
MIRROR = 14
OCTREE = 15
PATH = 8
PROXIMITY_SENSOR = 5
SHAPE = 0
VISION_SENSOR = 9
VOLUME = 10
class pyrep.const.PerspectiveMode

Bases: enum.Enum

An enumeration.

ORTHOGRAPHIC = 0
PERSPECTIVE = 1
class pyrep.const.PrimitiveShape

Bases: enum.Enum

An enumeration.

CONE = 3
CUBOID = 0
CYLINDER = 2
SPHERE = 1
class pyrep.const.RenderMode

Bases: enum.Enum

An enumeration.

EXTERNAL = 5
EXTERNAL_WINDOWED = 6
OPENGL = 0
OPENGL3 = 7
OPENGL3_WINDOWED = 8
OPENGL_AUXILIARY = 1
OPENGL_COLOR_CODED = 2
POV_RAY = 3
class pyrep.const.TextureMappingMode

Bases: enum.Enum

An enumeration.

CUBE = 3
CYLINDER = 1
PLANE = 0
SPHERE = 2
class pyrep.const.Verbosity

Bases: enum.Enum

An enumeration.

DEBUG = 'debug'
ERRORS = 'errors'
INFOS = 'infos'
LOAD_INFOS = 'loadinfos'
NONE = 'none'
SCRIPT_ERRORS = 'scripterrors'
SCRIPT_INFOS = 'scriptinfos'
SCRIPT_WARNINGS = 'scriptwarnings'
TRACE = 'trace'
TRACE_LUA = 'tracelua'
TYRACE_ALL = 'traceall'
WARNINGS = 'warnings'

pyrep.errors module

exception pyrep.errors.ConfigurationError

Bases: Exception

exception pyrep.errors.ConfigurationPathError

Bases: Exception

exception pyrep.errors.GripperError

Bases: Exception

exception pyrep.errors.IKError

Bases: Exception

exception pyrep.errors.ObjectAlreadyRemovedError

Bases: Exception

exception pyrep.errors.ObjectIsNotModelError

Bases: Exception

exception pyrep.errors.PyRepError

Bases: Exception

exception pyrep.errors.WrongObjectTypeError

Bases: Exception

pyrep.pyrep module

class pyrep.pyrep.PyRep

Bases: object

Used for interfacing with the CoppeliaSim simulation.

Can be used for starting, stopping, and stepping the simulation. As well as getting, and creating scene objects and robots.

create_texture(filename: str, interpolate=True, decal_mode=False, repeat_along_u=False, repeat_along_v=False) → Tuple[pyrep.objects.shape.Shape, pyrep.textures.texture.Texture]

Creates a planar shape that is textured.

Parameters:
  • filename – Path to the texture to load.
  • interpolate – Adjacent texture pixels are not interpolated.
  • decal_mode – Texture is applied as a decal (its appearance won’t be influenced by light conditions).
  • repeat_along_u – Texture will be repeated along the U direction.
  • repeat_along_v – Texture will be repeated along the V direction.
Returns:

A tuple containing the textured plane and the texture.
export_scene(filename: str) → None

Saves the current scene.

Parameters:filename – scene filename. The filename extension is required (“ttt”).
get_collection_handle_by_name(collection_name: str) → int

Retrieves the integer handle for a given collection.

Parameters:collection_name – Name of the collection to retrieve the integer handle for
Returns:An integer handle for the collection
get_objects_in_tree(root_object=None, *args, **kwargs) → List[pyrep.objects.object.Object]

Retrieves the objects in a given hierarchy tree.

Parameters:
  • root_object – The root object in the tree. Pass None to retrieve all objects in the configuration tree. Object or int.
  • object_type – The object type to retrieve. One of ObjectType.
  • exclude_base – Exclude the tree base from the returned list.
  • first_generation_only – Include in the returned list only the object’s first children. Otherwise, entire hierarchy is returned.
Returns:

A list of objects in the hierarchy tree.
get_simulation_timestep() → float

Gets the simulation time step.

Returns:The time step value in seconds.
group_objects(objects: List[pyrep.objects.shape.Shape]) → pyrep.objects.shape.Shape

Groups several shapes into a compound shape (or simple shape).

Parameters:objects – The list of shapes to group.
Returns:A single grouped shape.
import_model(filename: str) → pyrep.objects.object.Object

Loads a previously saved model.

Parameters:filename – model filename. The filename extension is required (“ttm”). An optional “@copy” can be appended to the filename, in which case the model’s objects will be named/renamed as if an associated script was attached to the model.
Returns:The imported model.
launch(scene_file: str = '', headless: bool = False, responsive_ui: bool = False, blocking: bool = False, verbosity: pyrep.const.Verbosity = <Verbosity.NONE: 'none'>) → None

Launches CoppeliaSim.

Launches the UI thread, waits until the UI thread has finished, this results in the current thread becoming the simulation thread.

Parameters:
  • scene_file – The scene file to load. Empty string for empty scene.
  • headless – Run CoppeliaSim in simulation mode.
  • responsive_ui – If True, then a separate thread will be created to asynchronously step the UI of CoppeliaSim. Note, that will reduce the responsiveness of the simulation thread.
  • blocking – Causes CoppeliaSim to launch as if running the default c++ client application. This is causes the function to block. For most users, this will be set to False.
  • verbosity – The verbosity level for CoppeliaSim. Usually Verbosity.NONE or Verbosity.LOAD_INFOS.
merge_objects(objects: List[pyrep.objects.shape.Shape]) → pyrep.objects.shape.Shape

Merges several shapes into a compound shape (or simple shape).

Parameters:objects – The list of shapes to group.
Returns:A single merged shape.
script_call(function_name_at_script_name: str, script_handle_or_type: int, ints=(), floats=(), strings=(), bytes='') → Tuple[List[int], List[float], List[str], str]

Calls a script function (from a plugin, the main client application, or from another script). This represents a callback inside of a script.

Parameters:
  • function_name_at_script_name – A string representing the function name and script name, e.g. myFunctionName@theScriptName. When the script is not associated with an object, then just specify the function name.
  • script_handle_or_type – The handle of the script, otherwise the type of the script.
  • ints – The input ints to the script.
  • floats – The input floats to the script.
  • strings – The input strings to the script.
  • bytes – The input bytes to the script (as a string).
Returns:

Any number of return values from the called Lua function.
set_configuration_tree(config_tree: bytes) → None

Restores configuration information previously retrieved.

Configuration information (object relative positions/orientations, joint/path values) can be retrieved with Object.get_configuration_tree(). Dynamically simulated objects will implicitly be reset before the command is applied (i.e. similar to calling Object.reset_dynamic_object() just before).

Parameters:config_tree – The configuration tree to restore.
set_simulation_timestep(dt: float) → None

Sets the simulation time step. Default is 0.05.

Parameters:dt – The time step value in seconds.
shutdown() → None

Shuts down the CoppeliaSim simulation.

start() → None

Starts the physics simulation if it is not already running.

step() → None

Execute the next simulation step.

If the physics simulation is not running, then this will only update the UI.

step_ui() → None

Update the UI.

This will not execute the next simulation step, even if the physics simulation is running. This is only applicable when PyRep was launched without a responsive UI.

stop() → None

Stops the physics simulation if it is running.

Module contents