def set_all_static():
from pybullet_planning.interfaces.env_manager.simulation import disable_gravity
from pybullet_planning.interfaces.robots.body import get_bodies
# TODO: mass saver
disable_gravity()
for body in get_bodies():
set_static(body)
def image_from_segmented(segmented, color_from_body=None):
if color_from_body is None:
from pybullet_planning.interfaces.robots.body import get_bodies
bodies = get_bodies()
color_from_body = dict(zip(bodies, spaced_colors(len(bodies))))
image = np.zeros(segmented.shape[:2] + (3, ))
for r in range(segmented.shape[0]):
for c in range(segmented.shape[1]):
body, link = segmented[r, c, :]
image[r, c, :] = color_from_body.get(body, (0, 0, 0))
return image
def __init__(self):
from pybullet_planning.interfaces.robots.body import get_bodies
self.body_savers = [BodySaver(body) for body in get_bodies()]
def single_collision(body1, **kwargs):
for body2 in get_bodies():
if (body1 != body2) and pairwise_collision(body1, body2, **kwargs):
return True
return False