_simulation_state

Module Contents

Classes

SimulationState

Interface for the state of a simulation at certain point.

class SimulationState

Bases: abc.ABC

Interface for the state of a simulation at certain point.

abstract get_rigid_body_relative_pose(rigid_body: simulation.scene._rigid_body.RigidBody) → simulation.scene._pose.Pose

Get the pose of a rigid body, relative to its parent multi-body system’s reference frame.

Parameters:

rigid_body – The rigid body to get the pose for.

Returns:

The relative pose.

abstract get_rigid_body_absolute_pose(rigid_body: simulation.scene._rigid_body.RigidBody) → simulation.scene._pose.Pose

Get the pose of a rigid body, relative the global reference frame.

Parameters:

rigid_body – The rigid body to get the pose for.

Returns:

The absolute pose.

abstract get_multi_body_system_pose(multi_body_system: simulation.scene._multi_body_system.MultiBodySystem) → simulation.scene._pose.Pose

Get the pose of a multi-body system, relative to the global reference frame.

Parameters:

multi_body_system – The multi-body system to get the pose for.

Returns:

The relative pose.

abstract get_hinge_joint_position(joint: simulation.scene._joint_hinge.JointHinge) → float

Get the rotational position of a hinge joint.

Parameters:

joint – The joint to get the rotational position for.

Returns:

The rotational position.

abstract get_imu_specific_force(imu_sensor: simulation.scene.sensors.IMUSensor) → pyrr.Vector3

Get the specific force measured an IMU.

Parameters:

imu_sensor – The IMU.

Returns:

The specific force.

abstract get_imu_angular_rate(imu_sensor: simulation.scene.sensors.IMUSensor) → pyrr.Vector3

Get the angular rate measured by am IMU.

Parameters:

imu_sensor – The IMU.

Returns:

The angular rate.

abstract get_camera_view(camera_sensor: simulation.scene.sensors.CameraSensor) → numpy.typing.NDArray[numpy.uint8]

Get the camera view.

Parameters:

camera_sensor – The camera.

Returns:

The view.