pyrfuniverse.envs package

pyrfuniverse.envs.base_env module

class pyrfuniverse.envs.base_env.RFUniverseBaseEnv(executable_file: str | None = None, scene_file: str | None = None, assets: list = [], graphics: bool = True, port: int = 5004, proc_id=0, log_level=1, ext_attr: list = [], check_version: bool = True, communication_backend: str = 'tcp')

Bases: ABC

RFUniverse base environment class.

Parameters:

executable_file – Str, the absolute path of Unity executable file. None for last used executable file; “@editor” for using Unity Editor.
scene_file – Str, the absolute path of Unity scene JSON file. All JSON files locate at StraemingAssets/SceneData by default.
assets – List, the list of pre-load assets. All assets in the list will be pre-loaded in Unity when the environment is initialized, which will save time during instanciating.
graphics – Bool, True for showing GUI and False for headless mode.
port – Int, the port for communication.
proc_id – Int, the process id for the Unity environment. 0 for the first process, 1 for the second process, and so on.
log_level – Int, the log level for Unity environment. 0 for no log, 1 for errors logs, 2 for warnings and errors, 3 for all only.
ext_attr – List, the list of extended attributes. All extended attributes will be added to the environment.
check_version – Bool, True for checking the version of the Unity environment and the pyrfuniverse library. False for not checking the version.
communication_backend – Str, Specify communication backend, Can be “tcp” or “grpc”.

step(count: int = 1, simulate: bool = True, collect: bool = True)

Send the messages of called functions to Unity and simulate for a step, then accept the data from Unity.

Parameters:

count – The number of steps for executing Unity simulation.
simulate – Simulate Physics
collect – Collect Data

close(): Close the environment

Simulate(time_step: float = -1, count: int = 1)

Physics simulation

Parameters:

time_step – delta time of simulation pre step
simulation (count：count of)

Collect(): Collect env data

GetAttr(id: int)

Get the attribute instance by object id.

Parameters:: id – Int, object id.
Returns:: An instance of attribute.
Return type:: pyrfuniverse.attributes.BaseAttr

PreLoadAssetsAsync(names: list, auto_wait: bool = False) → None

PreLoad the asset.

Parameters:

names – list, the name of assets.
auto_wait – Bool, if True, this function will not return until the loading is done.

LoadSceneAsync(file: str, auto_wait: bool = False) → None

Load the scene asynchronisely.

Parameters:

file – Str, the scene JSON file. If it’s a relative path, it will load from StraemingAssets.
auto_wait – Bool, if True, this function will not return until the loading is done.

SwitchSceneAsync(name: str, auto_wait: bool = False) → None

Switch the scene asynchronisely.

Parameters:

name – Str, the scene name.
auto_wait – Bool, if True, this function will not return until the loading is done.

WaitSceneInit() → None: Wait for the Scene Init done.

WaitLoadDone() → None: Wait for the loading is done.

Pend(simulate: bool = True, collect: bool = True) → None: Pend the program until the EndPend button in UnityPlayer is clicked.

SendObject(head: str, *args) → None

Send object to Unity.

Parameters:

head – Str, the message head.
*args – List, the list of parameters. We support str, bool, int, float and List[float] types.

AddListenerObject(head: str, fun)

Add object listener.

Parameters:

head – Str, the message head.
fun – Callable, the callback function.

RemoveListenerObject(head: str)

Remove object listener.

Parameters:: head – Str, the message head.

InstanceObject(name: str, id: int | None = None, attr_type: type = <class 'pyrfuniverse.attributes.base_attr.BaseAttr'>)

Instanciate an object.

Built-in assets:

BaseAttr:

“Empty”, “Coordinate”,

GameObjectAttr:

“GameObject_Box”, “GameObject_Capsule”, “GameObject_Cylinder”, “GameObject_Sphere”, “GameObject_Quad”,

ColliderAttr:

“Collider_Box”, “Collider_ObiBox”, “Collider_Capsule”, “Collider_Cylinder”, “Collider_Sphere”, “Collider_Quad”,

RigidbodyAttr:

Basic Objects:: “MassPoint”, “Rigidbody_Box”, “Rigidbody_Capsule”, “Rigidbody_Cylinder”, “Rigidbody_Sphere”,
YCB dataset:: 77 models in YCB dataset. See YCB Object and Model Set for detail: https://rse-lab.cs.washington.edu/projects/posecnn/

ControllerAttr:

gripper:: “allegro_hand_right”, “bhand”, “svh”, “mano”, “robotiq_arg2f_85_model”, “dh_robotics_ag95_gripper”, “shadowhand”, “shadow_e3m5”,
robot arm:: “kinova_gen3”, “ur5”, “ur10”, “flexivArm”, “tobor_r300”,
robot arm with gripper:: “franka_panda”, “kinova_gen3_robotiq85”, “ur5_robotiq85”, “ur10_shadow”, “tobor_r300_ag95_ag95”, “tobor_r300_robotiq85_robotiq85”, “flexivArm_ag95”, “yumi”,

CameraAttr:

“Camera”,

LightAttr:

“Light”,

PointCloudAttr:

“PointCloud”,

Parameters:

name – Str, object name. Please check the above built-in assets list for names.
id – Int, object id.
attr_type – type(pyrfuniverse.attributes.BaseAttr), the attribute type. This parameter helps the editor identify types/completion codes

Returns:

The object attribute instance.

Return type:

type(attr_type)

GetBuiltinAssetsList() → None: Get built-in assets list that can be created by InstanceObject, After calling this method and stepping once, the result will be saved in env.data[‘builtin_assets_list’]

LoadURDF(path: str, id: int | None = None, native_ik: bool = False, axis: str = 'y') → ControllerAttr

Load a model from URDF file.

Parameters:

path – Str, the URDF file path.
id – Int, object id.
native_ik – Bool, True for enabling native IK; False for using custom IK.When it is True, through the IKTargetDo*** interface, according to the end pose.When it is False, through the SetJoint*** interface, according to the joint movement.
axis – Str, Removed

Returns:

The object attribute intance.

Return type:

pyrfuniverse.attributes.ControllerAttr

LoadMesh(path: str, id: int | None = None, collider_mode: str = 'VHACD') → RigidbodyAttr

Load a model from Mesh file.

Parameters:

path – Str, the Mesh file path.
id – Int, object id.
collider_mode – Str, How to generate collisions for model, can be “VHACD”/”CoACD”/”Convex”/Any other is None Collider

Returns:

The object attribute intance.

Return type:

pyrfuniverse.attributes.RigidbodyAttr

IgnoreLayerCollision(layer1: int, layer2: int, ignore: bool) → None

Ignore or enable the collision between two layers.

Parameters:

layer1 – Int, the layer number of the first layer.
layer2 – Int, the layer number of the second layer.
ignore – Bool, True for ignoring collision between two layers; False for enabling collision between two layers.

GetCurrentCollisionPairs() → None: Get the collision pairs of current collision. After calling this method and stepping once, the result will be saved in env.data[‘CurrentCollisionPairs’]

GetRFMoveColliders() → None: Get the RFMove colliders. After calling this method and stepping once, the result will be saved in env.data[‘RFMoveColliders’]

SetGravity(x: float, y: float, z: float) → None

Set the gravity of environment.

Parameters:

x – Float, gravity on global x-axis (right).
y – Float, gravity on global y-axis (up).
z – Float, gravity on global z-axis (forward).

SetGroundActive(active: bool) → None

Set the ground active or inactive.

Parameters:: active – Bool, active or inactive the ground.

SetGroundPhysicMaterial(bounciness: float, dynamic_friction: float, static_friction: float, friction_combine: int, bounce_combine: int) → None

Set the physics material of ground in environment.

Parameters:

bounciness – Float, the bounciness.
dynamic_friction – Float, the dynamic friction coefficient (0-1).
static_friction – Float, the static friction coefficient (0-1).
friction_combine – Int, how friction of two colliding objects is combined. 0 for Average, 1 for Minimum, 2 for Maximum and 3 for Multiply. See https://docs.unity3d.com/Manual/class-PhysicMaterial.html for more details.
bounce_combine – Int, how bounciness of two colliding objects is combined. The value representation is the same with friction_combine.

SetTimeStep(delta_time: float) → None

Set the time for a step in Unity.

Parameters:: delta_time – Float, the time for a step in Unity.

SetTimeScale(time_scale: float) → None

Set the time scale in Unity.

Parameters:: time_scale – Float, the time scale in Unity.

SetResolution(resolution_x: int, resolution_y: int) → None

Set the resolution of windowed GUI.

Parameters:

resolution_x – Int, window width.
resolution_y – Int, window height.

ExportOBJ(items_id: list, save_path: str) → None

Export the specified object list to OBJ file. For native bundle models, the Read/Write must be checked in Unity Editor.

Parameters:

items_id – List, the object ids.
save_path – Str, the path to save the OBJ files.

SetShadowDistance(distance: float) → None

Set the shadow distance for rendering in environment.

Parameters:: distance – Float, the shadow distance measured in meter.

SaveScene(file: str) → None

Save current scene.

Parameters:: file – Str, the file path to save current scene. Default saving to StreamingAssets folder.

ClearScene() → None: Clear current scene.

AlignCamera(camera_id: int) → None

Align current GUI view to a given camera.

Parameters:: camera_id – Int, camera id.

SetViewTransform(position: list | None = None, rotation: list | None = None) → None

Set the GUI view.

Parameters:

position – A list of length 3, representing the position of GUI view.
rotation – A list of length 3, representing the rotation of GUI view.

GetViewTransform() → None: Get the GUI view transform.After calling this method and stepping once, the result will be saved in env.data[‘view_position’] / env.data[‘view_rotation’] / env.data[‘view_quaternion’]

ViewLookAt(target: list, world_up: list | None = 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.

SetViewBackGround(color: list | None = None) → None

Set the GUI view BackGround.

Parameters:: color – A list of length 3, background color of GUI view. None : default skybox.

LoadCloth(path: str, id: int | None = None) → ClothAttr

Load a mesh to Cloth.

Parameters:

path – Str, the Mesh file path.
id – Int, object id.

EnabledGroundObiCollider(enabled: bool) → None

Enabled Ground ObiCollider.

Parameters:: enabled – Bool, the Ground ObiCollider enabled.

DebugGraspPoint(enabled: bool = True) → None

Show or hide end effector of robot arm for debug.

Parameters:: enabled – Bool, True for showing and False for hiding.

DebugObjectPose(enabled: bool = True) → None

Show or hide object base point for debug.

Parameters:: enabled – Bool, True for showing and False for hiding.

DebugCollisionPair(enabled: bool = True) → None

Show or hide collision pairs for debug.

Parameters:: enabled – Bool, True for showing and False for hiding.

DebugColliderBound(enabled: bool = True) → None

Show or hide collider bounding box for debug.

Parameters:: enabled – Bool, True for showing and False for hiding.

DebugObjectID(enabled: bool = True) → None

Show or hide object id for debug.

Parameters:: enabled – Bool, True for showing and False for hiding.

Debug3DBBox(enabled: bool = True) → None

Show or hide 3d bounding box of objects for debug.

Parameters:: enabled – Bool, True for showing and False for hiding.

Debug2DBBox(enabled: bool = True) → None

Show or hide 2d bounding box of objects for debug.

Parameters:: enabled – Bool, True for showing and False for hiding.

DebugJointLink(enabled: bool = True) → None

Show or hide joint information of articulation for debug.

Parameters:: enabled – Bool, True for showing and False for hiding.

SendLog(log: str) → None

Send log messange and show it on Unity GUI window.

Parameters:: log – Str, log message.

ShowArticulationParameter(controller_id: int) → None

Show Articulation Parameter on Unity GUI window.

Parameters:: controller_id – int, controller_attr id.

NewPhysicsScene(physics_scene_id: int) → None

Places all current scene objects into the new physics scene, and all objects are prefixed with the ID of the physical scene

Parameters:: physics_scene_id – int, physics scene id.

CopyPhysicsScene(new_id: int, copy_id: int) → None

Copy a physics scene

Parameters:

new_id – int, new physics scene id.
copy_id – int, copy physics scene id.

SimulatePhysicsScene(physics_scene_id: int, time_step: float = -1, count: int = 1) → None

Physics scene simulation

Parameters:

physics_scene_id – int, physics scene id.
time_step – delta time of simulation pre step
simulation (count：count of)

pyrfuniverse.envs.gym_wrapper_env module

class pyrfuniverse.envs.gym_wrapper_env.RFUniverseGymWrapper(executable_file: str | None = None, scene_file: str | None = None, assets: list = [], graphics: bool = True, port: int = 5004, proc_id=0, log_level=1, ext_attr: list[type] = [], check_version: bool = True, communication_backend: str = 'tcp')

Bases: RFUniverseBaseEnv, Env

RFUniverse base environment with Gym class.

Parameters:

executable_file – Str, the absolute path of Unity executable file. None for last used executable file; “@editor” for using Unity Editor.
scene_file – Str, the absolute path of Unity scene JSON file. All JSON files locate at StraemingAssets/SceneData by default.
assets – List, the list of pre-load assets. All assets in the list will be pre-loaded in Unity when the environment is initialized, which will save time during instanciating.
graphics – Bool, True for showing GUI and False for headless mode.
port – Int, the port for communication.
proc_id – Int, the process id for the Unity environment. 0 for the first process, 1 for the second process, and so on.
log_level – Int, the log level for Unity environment. 0 for no log, 1 for errors logs, 2 for warnings and errors, 3 for all only.
ext_attr – List, the list of extended attributes. All extended attributes will be added to the environment.
check_version – Bool, True for checking the version of the Unity environment and the pyrfuniverse library. False for not checking the version.

env_step(count: int = 1, simulate: bool = True, collect: bool = True)

Send the messages of called functions to Unity and simulate for a step, then accept the data from Unity.

Parameters:

count – The number of steps for executing Unity simulation.
simulate – Simulate Physics
collect – Collect Data

step(action: ActType) → tuple[ObsType, SupportsFloat, bool, bool, dict[str, Any]]

Gym step.

Parameters:: action – gym action.

env_close(): Close the environment

close(): Close gym