def dump_body(body, fixed=False):
print('Body id: {} | Name: {} | Rigid: {} | Fixed: {}'.format(
body, get_body_name(body), is_rigid_body(body), is_fixed_base(body)))
for joint in get_joints(body):
if fixed or is_movable(body, joint):
print(
'Joint id: {} | Name: {} | Type: {} | Circular: {} | Limits: {}'
.format(joint, get_joint_name(body, joint),
JOINT_TYPES[get_joint_type(body, joint)],
is_circular(body,
joint), get_joint_limits(body, joint)))
link = NULL_ID
print('Link id: {} | Name: {} | Mass: {} | Collision: {} | Visual: {}'.
format(link, get_base_name(body), get_mass(body),
len(get_collision_data(body, link)),
NULL_ID)) # len(get_visual_data(body, link))))
for link in get_links(body):
joint = parent_joint_from_link(link)
joint_name = JOINT_TYPES[get_joint_type(body, joint)] if is_fixed(
body, joint) else get_joint_name(body, joint)
print(
'Link id: {} | Name: {} | Joint: {} | Parent: {} | Mass: {} | Collision: {} | Visual: {}'
.format(link, get_link_name(body, link), joint_name,
get_link_name(body, get_link_parent(body, link)),
get_mass(body, link), len(get_collision_data(body, link)),
NULL_ID)) # len(get_visual_data(body, link))))
def clone_collision_shape(body, link, client=None):
from pybullet_planning.interfaces.env_manager.shape_creation import get_collision_data
client = get_client(client)
collision_data = get_collision_data(body, link)
if not collision_data:
return NULL_ID
assert (len(collision_data) == 1)
# TODO: can do CollisionArray
return collision_shape_from_data(collision_data[0], body, link, client)
def vertices_from_link(body, link):
from pybullet_planning.interfaces.env_manager.shape_creation import vertices_from_data
# In local frame
vertices = []
# TODO: requires the viewer to be active
#for data in get_visual_data(body, link):
# vertices.extend(vertices_from_data(data))
# Pybullet creates multiple collision elements (with unknown_file) when noncovex
for data in get_collision_data(body, link):
vertices.extend(vertices_from_data(data))
return vertices