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 link_from_name(body, name):
from pybullet_planning.interfaces.robots.body import get_base_name
if name == get_base_name(body):
return BASE_LINK
for link in get_joints(body):
if get_link_name(body, link) == name:
return link
raise ValueError(body, name)
def is_rigid_body(body):
for joint in get_joints(body):
if is_movable(body, joint):
return False
return True