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)

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.

step(count: int = 1)

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.

close()

Close the environment

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.

WaitLoadDone() → None

Wait for the loading is done.

Pend() → None

Pend the program until the EndPend button in UnityPlayer is clicked.

SendMessage(message: str, *args) → None

Send message to Unity.

Parameters:

  • message – Str, the message head.

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

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.

AddListener(message: str, fun)

Add listener.

Parameters:

  • message – Str, the message head.

  • fun – Callable, the callback function.

RemoveListener(message: str, fun)

Remove listener.

Parameters:

  • message – Str, the message head.

  • fun – Callable, the callback function.

AddListenerObject(type: str, fun)

Add object listener.

Parameters:

  • type – Str, the message head.

  • fun – Callable, the callback function.

RemoveListenerObject(type: str)

Remove object listener.

Parameters:

type – 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:

GameObjectAttr:
Basic Objects:

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

IGbison Meshes:

“Hainesburg_mesh_texture”, “Halfway_mesh_texture”, “Hallettsville_mesh_texture”, “Hambleton_mesh_texture”, “Hammon_mesh_texture”, “Hatfield_mesh_texture”, “Haxtun_mesh_texture”, “Haymarket_mesh_texture”, “Hendrix_mesh_texture”, “Hercules_mesh_texture”, “Highspire_mesh_texture”, “Hitchland_mesh_texture”,

ColliderAttr:

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

RigidbodyAttr:
Basic Objects:

“Rigidbody_Box”, “GameObject_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”, “robotiq_arg2f_85_model”, “dh_robotics_ag95_gripper”,

robot:

“kinova_gen3”, “kinova_gen3_robotiq85”, “ur5”, “ur5_robotiq85”, “franka_panda”, “franka_hand”, “tobor_robotiq85_robotiq85”, “flexivArm”, “flexivArm_ag95”, “yumi”,

CameraAttr:

“Camera”,

LightAttr:

“Light”,

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.

Returns:

The object attribute instance.

Return type:

type(attr_type)

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, import axis, This can be ‘z’ or ‘y’, depending on the URDF file

Returns:

The object attribute intance.

Return type:

pyrfuniverse.attributes.ControllerAttr

LoadMesh(path: str, id: int | None = None) → RigidbodyAttr

Load a model from Mesh file.

Parameters:

  • path – Str, the Mesh file path.

  • id – Int, object id.

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.

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.

Parameters:

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

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.

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.

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 = [], **kwargs)

Bases: RFUniverseBaseEnv, Env

close()

Close the environment

pyrfuniverse.envs.gym_goal_wrapper_env module

class pyrfuniverse.envs.gym_goal_wrapper_env.RFUniverseGymGoalWrapper(executable_file: str | None = None, scene_file: str | None = None, assets: list = [], **kwargs)

Bases: GoalEnv, RFUniverseBaseEnv

reset()

Resets the environment to an initial state and returns an initial observation.

Note that this function should not reset the environment’s random number generator(s); random variables in the environment’s state should be sampled independently between multiple calls to reset(). In other words, each call of reset() should yield an environment suitable for a new episode, independent of previous episodes.

Returns:

the initial observation.

Return type:

observation (object)

close()

Override close in your subclass to perform any necessary cleanup.

Environments will automatically close() themselves when garbage collected or when the program exits.