pyrfuniverse.attributes package

pyrfuniverse.attributes.activelightsensor_attr module

class pyrfuniverse.attributes.activelightsensor_attr.ActiveLightSensorAttr(env, id: int, data=None)

Bases: CameraAttr

Class of IR-based depth sensor, which can simulate the noise of real-world depth camera and produce depth image in similar pattern.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:

A dict containing useful information of this class.

self.data[‘active_depth’]: IR-based depth, shape = (w,h)

Return type:

Dict

GetActiveDepth(main_intrinsic_matrix_local: ndarray, ir_intrinsic_matrix_local: ndarray)

Get IR-based depth image.

Parameters:

main_intrinsic_matrix_local – np.ndarray The intrinsic matrix of main camera.
ir_intrinsic_matrix_local – np.ndarray The intrinsic matrix of IR-based camera.

pyrfuniverse.attributes.base_attr module

class pyrfuniverse.attributes.base_attr.BaseAttr(env, id: int, data=None)

Bases: object

Base attribute class, which includes general functions such as object loading, deleting and transforming.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:

A dict containing useful information of this class.

self.data[‘name’]: The name of the object.

self.data[‘position’]: The position of the object in world coordinate.

self.data[‘rotation’]: The euler angle of the object in world coordinate.

self.data[‘quaternion’]: The quaternion of the object in world coordinate.

self.data[‘local_position’]: The position of the object in its parent’s local coordinate.

self.data[‘local_rotation’]: The euler angle of the object in its parent’s local coordinate.

self.data[‘local_quaternion’]: The quaternion of the object in its parent’s local coordinate.

self.data[‘local_to_world_matrix’]: The transformation matrix from local to world coordinate.

self.data[‘result_local_point’]: The result of transforming object from local to world coordinate.

self.data[‘result_world_point’]: The result of transforming object from world to local coordinate.

Return type:

Dict

SetType(attr_type: type)

Set the attribute type of this object

Parameters:: attr_type – Any attribute in pyrfuniverse.attributes.
Returns:: The target attribute.

SetTransform(position: list | None = None, rotation: list | None = None, scale: list | None = None, is_world: bool = True)

Set the transform of this object, including position, rotation, scale and coordinate.

Parameters:

position – A list of length 3, representing the target position value of object.
rotation – A list of length 3, representing the target euler angle value of object.
scale – A list of length 3, representing the target scale value of object.
is_world – Bool, True for world coordinate, False for local coordinate.

SetPosition(position: list | None = None, is_world: bool = True)

Set the position of this object

Parameters:

position – A list of length 3, representing the target position value of object.
is_world – Bool, True for world coordinate, False for local coordinate.

SetRotation(rotation: list | None = None, is_world: bool = True)

Set the rotation of this object

Parameters:

rotation – A list of length 3, representing the target euler angle value of object.
is_world – Bool, True for world coordinate, False for local coordinate.

SetRotationQuaternion(quaternion: list | None = None, is_world: bool = True)

Rotate this object using quaternion.

Parameters:

quaternion – A list of length 4, representing the quaternion from current pose.
is_world – Bool, True for world coordinate, False for local coordinate.

SetScale(scale: list | None = None)

Set the scale of this object

Parameters:: scale – A list of length 3, representing the target scale value of object.

Translate(translation: list, is_world: bool = True)

Translate this object.

Parameters:

translation – A list of length 3, representing the translation from current position.
is_world – Bool, True for world coordinate, False for local coordinate.

Rotate(rotation: list, is_world: bool = True)

Rotate this object.

Parameters:

rotation – A list of length 3, representing the euler-angle-format rotation from current euler angle.
is_world – Bool, True for world coordinate, False for local coordinate.

LookAt(target: list, world_up: list | None = None)

Rotates the transform so the forward vector points at target’s current position.

Parameters:

target – A list of length 3, target to point towards.
world_up – A list of length 3, vector specifying the upward direction.

SetActive(active: bool)

Set the activeness of this obeject.

Parameters:: active – Bool, True for active, False for inactive.

SetParent(parent_id: int, parent_name: str = '')

Set the parent of this object.

Parameters:

parent_id – Int, the id of parent object.
parent_name – Str, the name of parent object.

SetLayer(layer: int)

Set the layer in Unity of this object.

Parameters:: layer – Int, the number of layer.

Copy(new_id: int)

Duplicate an object.

Parameters:: new_id – Int, the id of new object.

Destroy(): Destroy this object in Unity.

GetLocalPointFromWorld(point: list)

Transform a point from local coordinate to world coordinate. After calling this method and stepping once, the result will be saved in self.data[‘result_local_point’]

Parameters:: point – A list of length 3, representing the position of a point.

GetWorldPointFromLocal(point: list)

Transform a point from world coordinate to local coordinate. After calling this method and stepping once, the result will be saved in self.data[‘result_world_point’]

Parameters:: point – A list of length 3, representing the position of a point.

pyrfuniverse.attributes.camera_attr module

class pyrfuniverse.attributes.camera_attr.CameraAttr(env, id: int, data=None)

Bases: BaseAttr

Camera attribute class, which can capture many kinds of screenshot of the scene in RFUniverse.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:

A dict containing useful information of this class.

self.data[‘width’]: The width of image.

self.data[‘height’]: The height of image.

self.data[‘fov’]: The field of view of camera.

self.data[‘rgb’]: The bytes of rgb image.

self.data[‘normal’]: The bytes of normal image.

self.data[‘id_map’]: The bytes of instance segmentation mask image.

self.data[‘depth’]: The bytes of depth image.

self.data[‘depth_exr’]: The bytes of depth image in exr format.

self.data[‘amodal_mask’]: The bytes of amodal mask image.

self.data[‘heat_map’]: The bytes of heat map image.

self.data[‘2d_bounding_box’]: The 2d bouding box of objects in camera (image) coordinate.

self.data[‘3d_bounding_box’]: The 3d bounding box of objects in world coordinate.

Return type:

Dict

AlignView(): Make the camera in RFUniverse align the current view in GUI.

GetRGB(width: int = 512, height: int = 512, fov: float = 60.0, intrinsic_matrix: ndarray | None = None)

Get the camera RGB image.

Parameters:

width – Int, the width of image.
height – Int, the height of image.
fov – Float, the field of view for camera.
intrinsic_matrix – A ndarray of shape 3*3, representing the camera intrinsic matrix. When this parameter is passed, width, height and fov will be ignroed.

GetNormal(width: int = 512, height: int = 512, fov: float = 60.0, intrinsic_matrix: ndarray | None = None)

Get the normal image in world coordinate.

Parameters:

width – Int, the width of image.
height – Int, the height of image.
fov – Float, the field of view for camera.
intrinsic_matrix – A ndarray of shape 3*3, representing the camera intrinsic matrix. When this parameter is passed, width, height and fov will be ignroed.

GetID(width: int = 512, height: int = 512, fov: float = 60.0, intrinsic_matrix: ndarray | None = None)

Get the instance segmentation mask image. The color for each pixel is computed from object ID, see pyrfuniverse.utils.rfuniverse_utility.GetColorFromID for more details.

Parameters:

width – Int, the width of image.
height – Int, the height of image.
fov – Float, the field of view for camera.
intrinsic_matrix – A ndarray of shape 3*3, representing the camera intrinsic matrix. When this parameter is passed, width, height and fov will be ignroed.

GetDepth(zero_dis: float, one_dis: float, width: int = 512, height: int = 512, fov: float = 60.0, intrinsic_matrix: ndarray | None = None)

Get the depth image from camera. Since eacg pixel of depth image returned from this function is 8-bit, user should limit the depth range (zero_dis and one_dis) for more accurate results.

Parameters:

zero_dis – The minimum distance in calculation.
one_dis – The maximum distance in calculation.
width – Int, the width of image.
height – Int, the height of image.
fov – Float, the field of view for camera.
intrinsic_matrix – A ndarray of shape 3*3, representing the camera intrinsic matrix. When this parameter is passed, width, height and fov will be ignroed.

GetDepthEXR(width: int = 512, height: int = 512, fov: float = 60.0, intrinsic_matrix: ndarray | None = None)

Get the depth image from camera. This function returns EXR format image bytes and each pixel is 32-bit.

Parameters:

width – Int, the width of image.
height – Int, the height of image.
fov – Float, the field of view for camera.
intrinsic_matrix – A ndarray of shape 3*3, representing the camera intrinsic matrix. When this parameter is passed, width, height and fov will be ignroed.

GetAmodalMask(target_id: int, width: int = 512, height: int = 512, fov: float = 60, intrinsic_matrix: ndarray | None = None)

Get the amodal mask image for target object.

Parameters:

target_id – The target object ID.
width – Int, the width of image.
height – Int, the height of image.
fov – Float, the field of view for camera.
intrinsic_matrix – A ndarray of shape 3*3, representing the camera intrinsic matrix. When this parameter is passed, width, height and fov will be ignroed.

GetHeatMap(width: int = 512, height: int = 512, radius: int = 50, fov: float = 60.0, intrinsic_matrix: ndarray | None = None)

Get the heat map image.

Parameters:

width – Int, the width of image.
height – Int, the height of image.
radius – The radius of heat map.
fov – Float, the field of view for camera.
intrinsic_matrix – A ndarray of shape 3*3, representing the camera intrinsic matrix. When this parameter is passed, width, height and fov will be ignroed.

Get2DBBox(width: int = 512, height: int = 512, fov: float = 60.0, intrinsic_matrix: ndarray | None = None)

Get the 2d bounding box of objects in current camera view.

Parameters:

width – Int, the width of image.
height – Int, the height of image.
radius – The radius of heat map.
fov – Float, the field of view for camera.
intrinsic_matrix – A ndarray of shape 3*3, representing the camera intrinsic matrix. When this parameter is passed, width, height and fov will be ignroed.

Get3DBBox(): Get the 3d bounding box of objects in world coordinate.

pyrfuniverse.attributes.cloth_attr module

class pyrfuniverse.attributes.cloth_attr.ClothAttr(env, id: int, data=None)

Bases: BaseAttr

Obi cloth class.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:: A dict containing useful information of this class.
Return type:: Dict

pyrfuniverse.attributes.collider_attr module

class pyrfuniverse.attributes.collider_attr.ColliderAttr(env, id: int, data=None)

Bases: GameObjectAttr

Collider class for objects who have collider in Unity.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:: A dict containing useful information of this class.
Return type:: Dict

EnabledAllCollider(enabled: bool)

Set the collider enabled or unenabled.

Parameters:: active – Bool, True for enable and False for unenable.

SetPhysicMaterial(bounciness: float, dynamicFriction: float, staticFriction: float, frictionCombine: int, bounceCombine: int)

Set the collider physical material.

Parameters:

bounciness (float) – The coefficient of restitution or “bounciness” of the collider. It determines how much kinetic energy is retained after a collision. A value of 0 means no bounce, while a value of 1 means a perfect bounce.
dynamicFriction (float) – The coefficient of friction when the collider is in motion relative to another collider. It determines how much resistance there is when the collider is sliding against another surface.
staticFriction (float) – The coefficient of friction when the collider is at rest relative to another collider. It determines the resistance to initiating motion between the collider and another surface.
frictionCombine (int) – An integer representing how friction values should be combined when multiple colliders interact. It can take on values such as: - 0: Average - 1: Minimum - 2: Maximum - 3: Multiply These values define how friction will be calculated when multiple colliders are in contact.
bounceCombine (int) – An integer representing how bounce values should be combined when multiple colliders interact. It can take on values such as: - 0: Average - 1: Minimum - 2: Maximum - 3: Multiply These values define how bounciness will be calculated when multiple colliders are in contact.

SetRFMoveColliderActive(active: bool)

Set the collider active or inactive in RFMove.

Parameters:: active – Bool, True for active and False for inactive.

GenerateVHACDColider(): Generate convex colliders using VHACD algorithm.

pyrfuniverse.attributes.controller_attr module

class pyrfuniverse.attributes.controller_attr.ControllerAttr(env, id: int, data=None)

Bases: ColliderAttr

Robot controller class, which will control robot arms, hands and embodied robots.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:

A dict containing useful information of this class.

self.data[‘number_of_joints’]: The number of joints in an articulation.

self.data[‘positions’]: The position of each part in an articulation.

self.data[‘rotations’]: The rotation of each part in an articulation.

self.data[‘quaternion’]: The quaternion of each part in an articulation.

self.data[‘local_positions’]: The local position of each part in an articulation.

self.data[‘local_rotations’]: The local rotation of each part in an articulation.

self.data[‘local_quaternion’]: The local quaternion of each part in an articulation.

self.data[‘velocities’]: The velocity of each part in an articulation.

self.data[‘number_of_moveable_joints’]: The number of moveable joints in an articulation.

self.data[‘joint_positions’]: The joint position of each moveable joint in an articulation.

self.data[‘joint_velocities’]: The joint velocity of each moveable joint in an articulation.

self.data[‘all_stable’]: Whether all joints have finished moving.

self.data[‘move_done’]: Whether robot arm IK has finished moving.

self.data[‘rotate_done’]: Whether robot arm IK has finished rotating.

self.data[‘gravity_forces’]: Inverse Dynamics force needed to counteract gravity.

self.data[‘coriolis_centrifugal_forces’]: Inverse Dynamics force needed to counteract coriolis centrifugal forces.

self.data[‘drive_forces’]: Inverse Dynamics drive forces.

Return type:

Dict

SetJointPosition(joint_positions: list, speed_scales: list | None = None)

Set the target joint position for each moveable joint and move with PD control.

Parameters:

joint_positions – A list of float, representing the target joint positions.
speed_scales – A list of float, representing the speed scale.

SetJointPositionDirectly(joint_positions: list)

Set the target joint position for each moveable joint and move directly.

Parameters:: joint_positions – A list of float, representing the target joint positions.

SetIndexJointPosition(index: int, joint_position: float)

Set the target joint position for a given joint and move with PD control.

Parameters:

index – Int, joint index.
joint_position – Float, the target joint position.

SetIndexJointPositionDirectly(index: int, joint_position: float)

Set the target joint position for a given joint and move directly.

Parameters:

index – Int, joint index.
joint_position – Float, the target joint position.

SetJointPositionContinue(interval: int, time_joint_positions: list)

Set the target joint position for each moveable joint and move with PD control continuously.

Parameters:

interval – Float, the time interval.
time_joint_positions – A list of float list, representing the target joint positions at each time step.

SetJointVelocity(joint_velocitys: list)

Set the target joint velocity for each moveable joint.

Parameters:: joint_velocitys – A list of float, representing the target joint velocities.

SetIndexJointVelocity(index: int, joint_velocity: float)

Set the target joint velocity for a given joint.

Parameters:

index – Int, joint index.
joint_velocity – A list of float, representing the target joint velocities.

AddJointForce(joint_forces: list)

Add force to each moveable joint.

Parameters:: joint_forces – A list of forces, representing the added forces.

AddJointForceAtPosition(joint_forces: list, force_positions: list)

Add force to each moveable joint at a given position.

Parameters:

joint_forces – A list of forces, representing the added forces.
force_positions – A list of positions, representing the positions for forces.

AddJointTorque(joint_torques: list)

Add torque to each moveable joint.

Parameters:: joint_torques – A list of torques, representing the added torques.

GetJointInverseDynamicsForce(): Get the joint inverse dynamic force of each moveable joint. Note that this function only works in Unity version >= 2022.1.

SetImmovable(immovable: bool)

Set whether the base of articulation is immovable.

Parameters:: immovable – Bool, True for immovable, False for movable.

MoveForward(distance: float, speed: float)

Move robot forward. Only works if the robot controller has implemented functions inherited from ICustomMove.cs. See https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/ICustomMove.cs and https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/ToborMove.cs for more details.

Parameters:

distance – Float, distance.
speed – Float, velocity.

MoveBack(distance: float, speed: float)

Move robot backword. Only works if the robot controller has implemented functions inherited from ICustomMove.cs. See https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/ICustomMove.cs and https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/ToborMove.cs for more details.

Parameters:

distance – Float, distance.
speed – Float, velocity.

TurnLeft(angle: float, speed: float)

Turn robot left. Only works if the robot controller has implemented functions inherited from ICustomMove.cs. See https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/ICustomMove.cs and https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/ToborMove.cs for more details.

Parameters:

angle – Float, rotation angle.
speed – Float, velocity.

TurnRight(angle: float, speed: float)

Turn robot right. Only works if the robot controller has implemented functions inherited from ICustomMove.cs. See https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/ICustomMove.cs and https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/ToborMove.cs for more details.

Parameters:

angle – Float, rotation angle.
speed – Float, velocity.

GripperOpen(): Open the gripper. Only works if the robot controller has implemented functions inherited from ICustomGripper.cs. See https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/ICustomGripper.cs and https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/GeneralGripper.cs for more details.

GripperClose(): Close the gripper. Only works if the robot controller has implemented functions inherited from ICustomGripper.cs. See https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/ICustomGripper.cs and https://github.com/mvig-robotflow/rfuniverse/blob/main/Assets/RFUniverse/Scripts/Utils/GeneralGripper.cs for more details.

EnabledNativeIK(enabled: bool)

Enable or disable the native IK algorithm.

Parameters:: enabled – Bool, True for enable and False for disable.When it is True, through the IKTatGetDo*** interface, according to the end pose.When it is False, through the SetJoint*** interface, according to the joint movement.NativeIK can only take effect when it is started during initialization.

IKTargetDoMove(position: list, duration: float, speed_based: bool = True, relative: bool = False)

Native IK target movement.

Parameters:

position – A list of length 3, representing the position.
duration – Float, if speed_based is True, it represents movement duration; otherwise, it represents movement speed.
speed_based – Bool.
relative – Bool, if True, position is relative; otherwise, position is absolute.

IKTargetDoRotate(rotation: list, duration: float, speed_based: bool = True, relative: bool = False)

Native IK target rotation.

Parameters:

rotation – A list of length 3, representing the rotation.
duration – Float, if speed_based is True, it represents movement duration; otherwise, it represents movement speed.
speed_based – Bool.
relative – Bool, if True, rotation is relative; otherwise, rotation is absolute.

IKTargetDoRotateQuaternion(quaternion: list, duration: float, speed_based: bool = True, relative: bool = False)

Native IK target rotation using quaternion.

Parameters:

quaternion – A list of length 4, representing the quaternion.
duration – Float, if speed_based is True, it represents movement duration; otherwise, it represents movement speed.
speed_based – Bool.
relative – Bool, if True, quaternion is relative; otherwise, quaternion is absolute.

IKTargetDoComplete(): Make native IK target movement / rotation complete directly.

IKTargetDoKill(): Make native IK target movement / rotation stop.

SetIKTargetOffset(position: list = [0.0, 0.0, 0.0], rotation: list = [0.0, 0.0, 0.0], quaternion: list | None = None)

Set the new IK target by setting offset to the original target of native IK.

Parameters:

position – A list of length 3, representing the position offset to original target.
rotation – A list of length 3, representing the rotation offset to original target.
quaternion – A list of length 4, representing the quaternion offset to original target. If this parameter is specified, rotation will be ignored.

WaitDo(): Wait for the native IK target movement / rotation complete.

pyrfuniverse.attributes.digit_attr module

class pyrfuniverse.attributes.digit_attr.DigitAttr(env, id: int, data=None)

Bases: BaseAttr

Class for simulating DIGIT tactile sensor.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:

A dict containing useful information of this class.

self.data[‘light’]: Bytes of RGB light image in DIGIT.

self.data[‘depth’]: Bytes of depth image in DIGIT.

Return type:

Dict

GetData(): Get data from DIGIT in RFUniverse.

pyrfuniverse.attributes.gameobject_attr module

class pyrfuniverse.attributes.gameobject_attr.GameObjectAttr(env, id: int, data=None)

Bases: BaseAttr

Basic game object attribute class.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:

A dict containing useful information of this class.

self.data[‘3d_bounding_box’]: The 3d bounding box of objects.

Return type:

Dict

SetColor(color: list)

Set object color.

Parameters:: color – A list of length 4, represenging r, g, b and a. Each float is in range (0, 1).

EnabledRender(enabled: bool)

Enable or disable rendering system.

Parameters:: enabled – Bool, Ture for enable rendering and False for disable rendering.

SetTexture(path: str)

Set the texture of object.

Parameters:: path – Str, the absolute path for texture file.

Get3DBBox(): Get the 3d bounding box of this object.

pyrfuniverse.attributes.graspsim_attr module

class pyrfuniverse.attributes.graspsim_attr.GraspSimAttr(env, id: int, data=None)

Bases: BaseAttr

Grasp pose simulation class.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:

A dict containing useful information of this class.

self.data[‘done’]: Whether the simulation is done

self.data[‘points’]: The list of grasp points.

self.data[‘quaternions’]: The list of grasping pose quaternions.

self.data[‘width’]: The list of gripper width of grasping pose.

self.data[‘success’]: The list of success or failure of the grasing pose.

Return type:

Dict

StartGraspSim(mesh: str, gripper: str, points: list, normals: list, depth_range_min: float, depth_range_max: float, depth_lerp_count: int, angle_lerp_count: int, parallel_count: int = 100)

Start simulating grasping.

Parameters:

mesh – Str, the absolute path to .obj file.
gripper – Str, the name of the gripper.
points – A list of float, representing the grasping points.
normals – A list of float, representing the normals.
depth_range_min – Float, the minimum depth of grasp pose.
depth_range_max – Float, the maximum depth of grasp pose.
depth_lerp_count – Int, the interpolation count of depth.
angle_lerp_count – Int, the interpolation count of angle.
parallel_count – Int, the count of parallel grasping.

GenerateGraspPose(mesh: str, gripper: str, points: list, normals: list, depth_range_min: float, depth_range_max: float, depth_lerp_count: int, angle_lerp_count: int)

Generate grasp poses and visualize grasp results.

Parameters:

mesh – Str, the absolute path to .obj file.
gripper – Str, the name of the gripper.
points – A list of float, representing the grasping points.
normals – A list of float, representing the normals.
depth_range_min – Float, the minimum depth of grasp pose.
depth_range_max – Float, the maximum depth of grasp pose.
depth_lerp_count – Int, the interpolation count of depth.
angle_lerp_count – Int, the interpolation count of angle.

StartGraspTest(mesh: str, gripper: str, points: list, quaternions: list, parallel_count: int = 100)

Start testing the grasp based on current grasp poses.

Parameters:

mesh – Str, the absolute path to .obj file.
gripper – Str, the name of the gripper.
points – A list of float, representing the grasping points.
quaternions – A list of float, representing the quaternions.
parallel_count – Int, the interpolation count of angle.

ShowGraspPose(mesh: str, gripper: str, positions: list, quaternions: list)

Display grasp poses.

Parameters:

mesh – Str, the absolute path to .obj file.
gripper – Str, the name of the gripper.
points – A list of float, representing the grasping points.
quaternions – A list of float, representing the quaternions.

pyrfuniverse.attributes.humanbody_attr module

class pyrfuniverse.attributes.humanbody_attr.HumanbodyAttr(env, id: int, data=None)

Bases: BaseAttr

Human body Inverse Kinematic class.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:

A dict containing useful information of this class.

self.data[‘move_done’]: Whether the movement has finished.

self.data[‘rotate_done’]: Whether the rotation has finished.

Return type:

Dict

HumanIKTargetDoMove(index: int, position: list, duration: float, speed_based: bool = True, relative: bool = False)

Human body Inverse Kinematics target movement.

Parameters:

index – Int, the target for movement. 0 for left hand, 1 for right hand,2 for left foot, 3 for right foot, 4 for head.
position – A list of length 3, representing the position.
duration – Float, if speed_based is True, it represents movement duration; otherwise, it represents movement speed.
speed_based – Bool.
relative – Bool, if True, position is relative; otherwise, position is absolute.

HumanIKTargetDoRotate(index: int, rotation: list, duration: float, speed_based: bool = True, relative: bool = False)

Human body Inverse Kinematics target rotation.

Parameters:

index – Int, the target for movement. 0 for left hand, 1 for right hand,2 for left foot, 3 for right foot, 4 for head.
rotation – A list of length 3, representing the rotation.
duration – Float, if speed_based is True, it represents movement duration; otherwise, it represents movement speed.
speed_based – Bool.
relative – Bool, if True, rotation is relative; otherwise, rotation is absolute.

HumanIKTargetDoRotateQuaternion(index: int, quaternion: list, duration: float, speed_based: bool = True, relative: bool = False)

Human body Inverse Kinematics target rotation using quaternion.

Parameters:

index – Int, the target for movement. 0 for left hand, 1 for right hand,2 for left foot, 3 for right foot, 4 for head.
quaternion – A list of length 4, representing the quaternion.
duration – Float, if speed_based is True, it represents movement duration; otherwise, it represents movement speed.
speed_based – Bool.
relative – Bool, if True, quaternion is relative; otherwise, quaternion is absolute.

HumanIKTargetDoComplete(index: int)

Make the human body IK target movement / rotation complete directly.

Parameters:: index – Int, the target for movement. 0 for left hand, 1 for right hand,2 for left foot, 3 for right foot, 4 for head.

HumanIKTargetDoKill(index: int)

Make the human body IK target movement / rotation stop.

Parameters:: index – Int, the target for movement. 0 for left hand, 1 for right hand,2 for left foot, 3 for right foot, 4 for head.

WaitDo(): Wait for the human body IK target movement / rotation complete.

pyrfuniverse.attributes.light_attr module

class pyrfuniverse.attributes.light_attr.LightType(value)

Bases: Enum

The type of light, keeping same name with LightType (https://docs.unity3d.com/ScriptReference/LightType.html) in Unity.

class pyrfuniverse.attributes.light_attr.LightShadow(value)

Bases: Enum

The type of shadow, keeping same name with LightShadows (https://docs.unity3d.com/ScriptReference/LightShadows.html) in Unity.

class pyrfuniverse.attributes.light_attr.LightAttr(env, id: int, data=None)

Bases: BaseAttr

Light attribute class.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:: A dict containing useful information of this class.
Return type:: Dict

SetColor(color: list)

Set the color of light.

Parameters:: color – A list of length 3, representing the R, G and B channel, in range [0, 1].

SetType(light_type: LightType)

Set the type of light.

Parameters:: light_type – LightType, the type of light.

SetShadow(light_shadow: LightShadow)

Set the type of shadow.

Parameters:: light_shadow – LightShadow, the type of the shadow.

SetIntensity(light_intensity: float)

Set the intensity of light.

Parameters:: light_intensity – Float, the intensity of light.

SetRange(light_range: float)

Set the range of light. (Only available when the LightType is LightType.Spot or LightType.Point)

Parameters:: light_range – Float, the range of light.

SetSpotAngle(spot_angle: float)

Set the angle of light. (Only available when the LightType is LightType.Spot)

Parameters:: spot_angle – Float, the angle of light.

pyrfuniverse.attributes.pointcloud_attr module

class pyrfuniverse.attributes.pointcloud_attr.PointCloudAttr(env, id: int, data=None)

Bases: BaseAttr

Point cloud rendering class.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:: A dict containing useful information of this class.
Return type:: Dict

ShowPointCloud(positions: ndarray | None = None, colors: ndarray | None = None, ply_path: str | None = None, radius: float = 0.01)

Display point cloud in Unity.

Parameters:

positions – A list of positions of points in a point cloud.
colors – A list of colors of points (range [0, 1]) in a point cloud.
ply_path – Str, the absolute path of .ply file. If this parameter is specified, positions and colors will be ignored.
radius – Float, the radius of the point cloud.

SetRadius(radius: float)

Set the radius for points in a point cloud.

Parameters:: radius – Float, the radius.

pyrfuniverse.attributes.rigidbody_attr module

class pyrfuniverse.attributes.rigidbody_attr.RigidbodyAttr(env, id: int, data=None)

Bases: ColliderAttr

Rigid body class.

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:

A dict containing useful information of this class.

self.data[‘velocity’]: The velocity of the object.

self.data[‘angular_vel’]: The angular velcity of the object.

Return type:

Dict

SetMass(mass: float)

Set the mass of this rigid body object

Parameters:: mass – Float, representing the mass of this rigid body.

AddForce(force: list)

Add force to this rigid body object.

Parameters:: force – A list of length 3, representing the force added to this rigid body.

SetVelocity(velocity: list)

Set the velocity of this rigid body object.

Parameters:: velocity – A list of length 3, representing the velocity of this rigid body.

SetKinematic(is_kinematic: bool)

Set the Rigidbody is kinematic or not.

Parameters:: is_kinematic – is kinematic or not.

pyrfuniverse.attributes.softbody_attr module

class pyrfuniverse.attributes.softbody_attr.SoftbodyAttr(env, id: int, data=None)

Bases: BaseAttr

Obi Softbody class

parse_message(data: dict)

Parse messages. This function is called by internal function.

Returns:: A dict containing useful information of this class.
Return type:: Dict