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