blueprints.geoms module#

class blueprints.geoms.BaseGeom[source]#

Bases: GeomType, NodeThing, MoveableThing, ColoredThing

Geoms introduce physical matter into the simulation. For different Geom shapes individual Geom classes are available, with shape depended size attributes. All other attributes are specified in BaseGeom.

Note

Though units are not bound to one specific system of measurements, it is highly recommended to use MKS, since all defaults are defined based on meters, kilograms and seconds and most mujoco models online also use the metric system. If you want to switch from the imperial to the metric system the following resource might be of interest to convert units from imperial to metric. If you insist on using imperial units, take a look at the following resource to convert units from metric to imperial.

Most attribute descriptions are partially taken from Mujoco.

__init__(pos=[0.0, 0.0, 0.0], alpha=0, beta=0, gamma=0, material=None, mass=None, density=1000.0, margin=0.0, gap=0.0, sliding_friction=1, torsional_friction=0.005, rolling_friction=0.0001, shellinertia=None, color=None, name=None, x=None, y=None, z=None, quat=None, **kwargs)[source]#

Parameters:

pos (list[int | float] | np.ndarray | None, optional) – Represents the position of the object. Changing this attribute also changes the properties x, y and z.
alpha (int | float | None, optional) – (Improper) euler angle of rotation around the x-axis in radian. Changing this value also changes the euler property.
beta (int | float | None, optional) – (Improper) euler angle of rotation around the y-axis in radian. Changing this value also changes the euler property.
gamma (int | float | None, optional) – (Improper) euler angle of rotation around the z-axis in radian. Changing this value also changes the euler property.
material (blue.MaterialType, optional) – The Material of the Geom. :class:`Textures <blueprints.texture.BaseTexture> are applied via Materials.
density (int | float | None, optional) – Material density used to compute the geom mass and inertia. The computation is based on the geom shape and the assumption of uniform density. The internal default of 1000 is the density of water in SI units. This attribute is used only when the mass attribute above is unspecified.
margin (int | float | None, optional) – A contact is considered active only if the distance between the two geom surfaces is below margin-gap.
gap (int | float | None, optional) – This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts.
mass (int | float | None, optional) – If this attribute is specified, the density attribute below is ignored and the geom density is computed from the given mass, using the geom shape and the assumption of uniform density. The computed density is then used to obtain the geom inertia. Recall that the geom mass and inertia are only used during compilation, to infer the body mass and inertia if necessary.
shellinertia (bool | None, optional) – If true, the geom’s inertia is computed assuming that all the mass is concentrated on the boundary. In this case density is interpreted as surface density rather than volumetric density.
sliding_friction (int | float, optional) – Friction parameter for sliding used to compute the forces on contact pairs.
torsional_friction (int | float, optional) – Friction parameter for torsion used to compute the forces on contact pairs.
rolling_friction (int | float, optional) – Friction parameter for rolling used to compute the forces on contact pairs.
color (blue.ColorType) – The color of the Geom. For a detailed description see :class:`Color `
name (str | None, optional) – The user specified name might potentially be altered to avoid a naming conflict by appending an enumeration scheme.
x (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the X position coordinate.
y (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Y position coordinate.
z (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Z position coordinate.
quat (list [ int | float ] | np.ndarray | None, optional) – If set, the quaternion orientation overwrites the euler angles alpha, beta and gamma.
**kwargs – Keyword arguments are passed to super().__init__.

property type: str#

This is a derived attribute, which is used to specify the type attribute in the mujoco geom tag.

Returns:: The type is the lower case name of the Geom class.
Return type:: str

property material#

Materials can be used to specify reflective properties of a Geom, as well as to apply Textures to them.

Returns:: The Material of the Geom
Return type:: blue.MaterialType

property friction: ndarray#

Contact friction parameters for dynamically generated contact pairs. The first number is the sliding friction, acting along both axes of the tangent plane. The second number is the torsional friction, acting around the contact normal. The third number is the rolling friction, acting around both axes of the tangent plane.

Returns:: Individual components are found in sliding_friction, torsional_friction and rolling_friction.
Return type:: np.ndarray

property mass: float#

If this attribute is specified, the density attribute below is ignored and the geom density is computed from the given mass, using the geom shape and the assumption of uniform density. The computed density is then used to obtain the geom inertia. Recall that the geom mass and inertia are only used during compilation, to infer the body mass and inertia if necessary.

Unit defaults are set in SI units, but the physical properties can in principle be interpreted in any system of measurements.

Returns:: The default unit convention is kilogram.
Return type:: float

property density: float#

Unit defaults are set in SI units, but the physical properties can in principle be interpreted in any system of measurements.

Material density used to compute the geom mass and inertia. The computation is based on the geom shape and the assumption of uniform density. The internal default of 1000 is the density of water in SI units. This attribute is used only when the mass attribute above is unspecified.

Returns:: Density is either volumetric if shellinertia is false, otherwise its planar.
Return type:: float

property shellinertia: bool#

If shellinertia is True all mass will be distributed along the surface of the object. Changing this attribute also changes the effect of density from volumetric to planar.

Returns:: Indicates whether mass is concentrated on the surface.
Return type:: bool

property margin: float#

Margin defines the minimum distance used to detect a contact.

Returns:: Default units are interpreted in meters.
Return type:: float

property gap: float#

Gap defines the gap on minimum distance used to detect a contact.

Returns:: Default units are interpreted in meters.
Return type:: float

property sliding_friction: float#

Friction parameter for sliding used to computed the forces on contact pairs.

Returns:: First component of friction.
Return type:: float

property torsional_friction: int | float#

Friction parameter for torsion used to computed the forces on contact pairs.

Returns:: Second component of friction.
Return type:: float

property rolling_friction: int | float#

Friction parameter for rolling used to computed the forces on contact pairs.

Returns:: Third component of friction.
Return type:: float

class blueprints.geoms.Capsule[source]#

Bases: CapsuleGeomType, BaseTube, BaseGeom

Capsules consist of a cylinder with two half spheres at its ends. It can either be constructed from its standard constructor for position, orientation, radius and length, or with the blueprints.tube.BaseTube() constructor. For a detailed description see blueprints.tube.BaseTube.

Standard constructor:#

>>> geom = blue.geoms.Capsule(alpha=TAU/8, length=3)
>>> geom.head
array([ 0.          1.06066017 -1.06066017], dtype=np.float32)
>>> geom.tail
array([ 0.         -1.06066017  1.06066017], dtype=np.float32)

From points constructor:#

>>> geom = blue.geoms.Capsule.from_points([0, -1, 4], [2, 1, 0], radius=0.5)
>>> geom.pos
array([1. 0. 2.], dtype=np.float32)
>>> geom.alpha, geom.beta, geom.gamma
-2.6779450445889874 0.420534335283965 0.6847192030022825
>>> geom.length
4.898979485566356

head#

The first end of this Geoms. If it was defined by the blueprints.tube.BaseTube() constructor, head is the first argument given.

Type:: np.ndarra

tail#

The second end of this Geoms. If it was defined by the blueprints.tube.BaseTube() constructor, tail is the second argument given.

Type:: np.ndarra

__init__(pos=[0.0, 0.0, 0.0], radius=1.0, length=1.0, alpha=0.0, beta=0.0, gamma=0.0, margin=0.0, gap=0.0, material=None, color=None, name=None, x=None, y=None, z=None, quat=None, **kwargs)[source]#

Parameters:

pos (list[int | float] | np.ndarray | None, optional) – Represents the position of the object. Changing this attribute also changes the properties x, y and z.
radius (int | float, optional) – Represents the radius of the cylinder and the two half spheres.
length (int | float, optional) – The length of the cylinder.
alpha (int | float | None, optional) – (Improper) euler angle of rotation around the x-axis in radian. Changing this value also changes the euler property.
beta (int | float | None, optional) – (Improper) euler angle of rotation around the y-axis in radian. Changing this value also changes the euler property.
gamma (int | float | None, optional) – (Improper) euler angle of rotation around the z-axis in radian. Changing this value also changes the euler property.
margin (int | float | None, optional) – A contact is considered active only if the distance between the two geom surfaces is below margin-gap.
gap (int | float | None, optional) – This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts.
material (blue.MaterialType, optional) – The Material of the Geom. :class:`Textures <blueprints.texture.BaseTexture> are applied via Materials.
color (object) – The color of the Geom. See Color for a detailed description.
name (str | None, optional) – The user specified name might potentially be altered to avoid a naming conflict by appending an enumeration scheme.
x (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the X position coordinate.
y (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Y position coordinate.
z (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Z position coordinate.
quat (list [ int | float ] | np.ndarray | None, optional) – If set, the quaternion orientation overwrites the euler angles alpha, beta and gamma.
**kwargs – Keyword arguments are passed to super().__init__.

property size: ndarray#

Note

In mujoco half lengths are used instead of true lengths of objects. This makes distance calculations easier, but we find that it is overall more confusing then beneficial which is why blueprints uses proper lengths. Conversion is handled in the background, such that users only need to specify true lengths.

Returns:: The size defines the radius and half length of the capsule.
Return type:: np.ndarray

class blueprints.geoms.Cylinder[source]#

Bases: CylinderGeomType, BaseTube, BaseGeom

Cylinders can either be constructed from their standard constructor for position, orientation, radius and length, or with the blueprints.tube.BaseTube() constructor. For a detailed description see blueprints.tube.BaseTube.

Standard constructor:#

>>> geom = blue.geoms.Cylinder(alpha=TAU/8, length=3)
>>> geom.head
array([ 0.          1.06066017 -1.06066017], dtype=np.float32)
>>> geom.tail
array([ 0.         -1.06066017  1.06066017], dtype=np.float32)

From points constructor:#

>>> geom = blue.geoms.Cylinder.from_points([0, -1, 4], [2, 1, 0], radius=0.5)
>>> geom.pos
array([1. 0. 2.], dtype=np.float32)
>>> geom.alpha, geom.beta, geom.gamma
-2.6779450445889874 0.420534335283965 0.6847192030022825
>>> geom.length
4.898979485566356

head#

The first end of this Geoms. If it was defined by the blueprints.tube.BaseTube() constructor, head is the first argument given.

Type:: np.ndarra

tail#

The second end of this Geoms. If it was defined by the blueprints.tube.BaseTube() constructor, tail is the second argument given.

Type:: np.ndarra

Parameters:

pos (list[int | float] | np.ndarray | None, optional) – Represents the position of the object. Changing this attribute also changes the properties x, y and z.
radius (int | float, optional) – Represents the radius of the cylinder and the two half spheres.
length (int | float, optional) – The length of the cylinder.
alpha (int | float | None, optional) – (Improper) euler angle of rotation around the x-axis in radian. Changing this value also changes the euler property.
beta (int | float | None, optional) – (Improper) euler angle of rotation around the y-axis in radian. Changing this value also changes the euler property.
gamma (int | float | None, optional) – (Improper) euler angle of rotation around the z-axis in radian. Changing this value also changes the euler property.
margin (int | float | None, optional) – A contact is considered active only if the distance between the two geom surfaces is below margin-gap.
gap (int | float | None, optional) – This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts.
material (blue.MaterialType, optional) – The Material of the Geom. :class:`Textures <blueprints.texture.BaseTexture> are applied via Materials.
color (object) – The color of the Geom. See Color for a detailed description.
name (str | None, optional) – The user specified name might potentially be altered to avoid a naming conflict by appending an enumeration scheme.
x (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the X position coordinate.
y (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Y position coordinate.
z (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Z position coordinate.
quat (list [ int | float ] | np.ndarray | None, optional) – If set, the quaternion orientation overwrites the euler angles alpha, beta and gamma.
**kwargs – Keyword arguments are passed to super().__init__.

property size: ndarray#

Note

Returns:: The size defines the radius and half length of the cylinder.
Return type:: np.ndarray

class blueprints.geoms.Box[source]#

Bases: BoxGeomType, BaseTube, BaseGeom

Boxes can either be constructed from their standard constructor for position, orientation, and x-, y-, z-length, or with the blueprints.tube.BaseTube() constructor. For a detailed description see blueprints.tube.BaseTube.

Standard constructor:#

>>> geom = blue.geoms.Box(x_length=2, y_length=4, z_length=1)
>>> geom.head
array([ 0.   0.  -0.5], dtype=np.float32)
>>> geom.tail
array([ 0.   0.   0.5], dtype=np.float32)

From points constructor:#

>>> geom = blue.geoms.Box.from_points([4, 0,-2], [2, 4, 0], radius=0.5)
>>> geom.pos
array([ 3.   2.  -1.], dtype=np.float32)
>>> geom.alpha, geom.beta, geom.gamma
-1.1071487177940904 -0.4205343352839653 0.20135792079032988
>>> geom.x_length, geom.y_length, geom.z_length
0.5 0.5 4.898979485566356

head#

The first end of this Geoms. If it was defined by the blueprints.tube.BaseTube() constructor, head is the first argument given.

Type:: np.ndarra

tail#

The second end of this Geoms. If it was defined by the blueprints.tube.BaseTube() constructor, tail is the second argument given.

Type:: np.ndarra

__init__(pos=[0.0, 0.0, 0.0], x_length=1.0, y_length=1.0, z_length=1.0, alpha=0.0, beta=0.0, gamma=0.0, margin=0.0, gap=0.0, material=None, color=None, name=None, x=None, y=None, z=None, quat=None, **kwargs)[source]#

Parameters:

pos (list[int | float] | np.ndarray | None, optional) – Represents the position of the object. Changing this attribute also changes the properties x, y and z.
x_length (int | float, optional) – The true length of the Box along the x-axis.
y_length (int | float, optional) – The true length of the Box along the y-axis.
z_length (int | float, optional) – The true length of the Box along the z-axis.
alpha (int | float | None, optional) – (Improper) euler angle of rotation around the x-axis in radian. Changing this value also changes the euler property.
beta (int | float | None, optional) – (Improper) euler angle of rotation around the y-axis in radian. Changing this value also changes the euler property.
gamma (int | float | None, optional) – (Improper) euler angle of rotation around the z-axis in radian. Changing this value also changes the euler property.
margin (int | float | None, optional) – A contact is considered active only if the distance between the two geom surfaces is below margin-gap.
gap (int | float | None, optional) – This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts.
material (blue.MaterialType, optional) – The Material of the Geom. :class:`Textures <blueprints.texture.BaseTexture> are applied via Materials.
color (object) – The color of the Geom. See Color for a detailed description.
name (str | None, optional) – The user specified name might potentially be altered to avoid a naming conflict by appending an enumeration scheme.
x (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the X position coordinate.
y (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Y position coordinate.
z (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Z position coordinate.
quat (list [ int | float ] | np.ndarray | None, optional) – If set, the quaternion orientation overwrites the euler angles alpha, beta and gamma.
**kwargs – Keyword arguments are passed to super().__init__.

property size: ndarray#

Note

Returns:: The size defines the half lengths of the Box.
Return type:: np.ndarray

class blueprints.geoms.Plane[source]#

Bases: PlaneGeomType, BaseGeom

Planes can either be finite or infinite. They are normal to the Z-axis of their frame of reference and the outside of the plane lies in the positive Z-axis. The inside of the plane is rendered semi transparent. Finite Planes are rendered as rectangles with size specified in x_length y_length. If those size parameters are set to zero or are set negative, the plain is instead infinite. The spacing defines the size of grid subdivisions which are used in rendering.

__init__(pos=[0.0, 0.0, 0.0], x_length=0.0, y_length=0.0, spacing=1.0, alpha=0.0, beta=0.0, gamma=0.0, margin=0.0, gap=0.0, material=None, color=None, name=None, x=None, y=None, z=None, quat=None, **kwargs)[source]#

Parameters:

pos (list[int | float] | np.ndarray | None, optional) – Represents the position of the object. Changing this attribute also changes the properties x, y and z.
x_length (int | float, optional) – Length of the X-axis side. If both lengths are set to zero or negative the Plane is infinite.
y_length (int | float, optional) – Length of the Y-axis side. If both lengths are set to zero or negative the Plane is infinite.
spacing (int | float, optional) – Spacing between the grid subdivisions.
alpha (int | float | None, optional) – (Improper) euler angle of rotation around the x-axis in radian. Changing this value also changes the euler property.
beta (int | float | None, optional) – (Improper) euler angle of rotation around the y-axis in radian. Changing this value also changes the euler property.
gamma (int | float | None, optional) – (Improper) euler angle of rotation around the z-axis in radian. Changing this value also changes the euler property.
margin (int | float | None, optional) – A contact is considered active only if the distance between the two geom surfaces is below margin-gap.
gap (int | float | None, optional) – This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts.
material (blue.MaterialType, optional) – The Material of the Geom. :class:`Textures <blueprints.texture.BaseTexture> are applied via Materials.
color (object) – The color of the Geom. See Color for a detailed description.
name (str | None, optional) – The user specified name might potentially be altered to avoid a naming conflict by appending an enumeration scheme.
x (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the X position coordinate.
y (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Y position coordinate.
z (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Z position coordinate.
quat (list [ int | float ] | np.ndarray | None, optional) – If set, the quaternion orientation overwrites the euler angles alpha, beta and gamma.
**kwargs – Keyword arguments are passed to super().__init__.

property size: ndarray#

Note

Returns:: The first two components are half lengths for the X-axis and the Y-axis and the third is the spacing between grid subdivisions.
Return type:: np.ndarray

class blueprints.geoms.Sphere[source]#

Bases: SphereGeomType, BaseGeom

Spheres are defined via radius and position.

radius#

The radius of the sphere

Type:: float

__init__(pos=[0.0, 0.0, 0.0], radius=1.0, alpha=0.0, beta=0.0, gamma=0.0, margin=0.0, gap=0.0, material=None, color=None, name=None, x=None, y=None, z=None, quat=None, **kwargs)[source]#

Parameters:

pos (list[int | float] | np.ndarray | None, optional) – Represents the position of the Thing. Changing this attribute also changes the properties x, y and z.
radius (int | float, optional) – The radius of the Sphere.
alpha (int | float | None, optional) – (Improper) euler angle of rotation around the x-axis in radian. Changing this value also changes the euler property.
beta (int | float | None, optional) – (Improper) euler angle of rotation around the y-axis in radian. Changing this value also changes the euler property.
gamma (int | float | None, optional) – (Improper) euler angle of rotation around the z-axis in radian. Changing this value also changes the euler property.
margin (int | float | None, optional) – A contact is considered active only if the distance between the two geom surfaces is below margin-gap.
gap (int | float | None, optional) – This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts.
material (blue.MaterialType, optional) – The Material of the Geom. :class:`Textures <blueprints.texture.BaseTexture> are applied via Materials.
color (object) – The color of the Geom. See Color for a detailed description.
name (str | None, optional) – The user specified name might potentially be altered to avoid a naming conflict by appending an enumeration scheme.
x (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the X position coordinate.
y (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Y position coordinate.
z (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Z position coordinate.
quat (list [ int | float ] | np.ndarray | None, optional) – If set, the quaternion orientation overwrites the euler angles alpha, beta and gamma.
**kwargs – Keyword arguments are passed to super().__init__.

property size: ndarray#

Note

Returns:: The only component of size is the radius, which is interpreted as meters by default parameters and convention.
Return type:: np.ndarray

class blueprints.geoms.Ellipsoid[source]#

Bases: EllipsoidGeomType, BaseGeom

Ellipsoids are defined with via :attr:´x_radius`, :attr:´y_radius` and :attr:´z_radius`. The surface of the Ellipsoid contains the solutions to the equation:

\(\left( \frac{x}{r_x} \right)^2 + \left( \frac{y}{r_y} \right)^2 + \left( \frac{z}{r_z} \right)^2 = 1\)

x_radius#

This attribute defines the radius for the X-axis.

Type:: float

y_radius#

This attribute defines the radius for the Y-axis.

Type:: float

z_radius#

This attribute defines the radius for the Z-axis.

Type:: float

__init__(pos=[0.0, 0.0, 0.0], x_radius=1.0, y_radius=2.0, z_radius=3.0, alpha=0.0, beta=0.0, gamma=0.0, margin=0.0, gap=0.0, material=None, color=None, name=None, x=None, y=None, z=None, quat=None, **kwargs)[source]#

Parameters:

pos (list[int | float] | np.ndarray | None, optional) – Represents the position of the object. Changing this attribute also changes the properties x, y and z.
x_radius (int | float, optional) – This attribute defines the radius for the X-axis.
y_radius (int | float, optional) – This attribute defines the radius for the Y-axis.
z_radius (int | float, optional) – This attribute defines the radius for the Z-axis.
alpha (int | float | None, optional) – (Improper) euler angle of rotation around the x-axis in radian. Changing this value also changes the euler property.
beta (int | float | None, optional) – (Improper) euler angle of rotation around the y-axis in radian. Changing this value also changes the euler property.
gamma (int | float | None, optional) – (Improper) euler angle of rotation around the z-axis in radian. Changing this value also changes the euler property.
margin (int | float | None, optional) – A contact is considered active only if the distance between the two geom surfaces is below margin-gap.
gap (int | float | None, optional) – This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts.
material (blue.MaterialType, optional) – The Material of the Geom. :class:`Textures <blueprints.texture.BaseTexture> are applied via Materials.
color (object) – The color of the Geom. See Color for a detailed description.
name (str | None, optional) – The user specified name might potentially be altered to avoid a naming conflict by appending an enumeration scheme.
x (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the X position coordinate.
y (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Y position coordinate.
z (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Z position coordinate.
quat (list [ int | float ] | np.ndarray | None, optional) – If set, the quaternion orientation overwrites the euler angles alpha, beta and gamma.
**kwargs – Keyword arguments are passed to super().__init__.

property size: ndarray#

Note

Returns:: The components contain the x_radius, y_radius and z_radius attribute.
Return type:: np.ndarray

class blueprints.geoms.Mesh[source]#

Bases: MeshGeomType, BaseGeom

Meshes can be used to build more complex shapes either by specifying vertecies manually or by loading mesh files directly.

>>> blue.geoms.Mesh(filename='utahteapot.stl')
Mesh<unnamed_mesh:1>
>>> vertecies = [[0, 0, 0],
                 [0, 2, 0],
                 [2, 2, 0],
                 [2, 0, 0],
                 [1, 1, 2]]
>>> mesh = blue.geoms.Mesh(vertecies=vertecies, centered=True)
>>> mesh.vertecies
[[-1. -1. -1.]
 [-1.  1. -1.]
 [ 1.  1. -1.]
 [ 1. -1. -1.]
 [ 0.  0.  1.]]

The vertex data is accessed through a blueprints.assets.MeshAsset which in turn stores the data in a blueprints.cache.MeshCache. As long as no vertex data are modified copies of the Mesh will reference the same Asset to avoid redundancy, otherwise a new Asset and or Cache is created. The creation of a new Asset is computationally fairly cheap, the creation of a new Cache may come with significant costs if the mesh file is large.

Modifications of the following attributes might trigger the creation of a new Asset:

pos
euler
scale

Modifications of the following attributes might trigger the creation of a new Cache:

size
vertecies

Raises:: Exception – If neither a filename, vertecies or an asset are given an error is raised.

__init__(pos=[0.0, 0.0, 0.0], vertecies=None, filename=None, centered=True, asset=None, material=None, margin=0.0, gap=0.0, x=None, y=None, z=None, **kwargs)[source]#

Parameters:

pos (list[int | float] | np.ndarray | None, optional) – Represents the position of the object. Changing this attribute also changes the properties x, y and z.
vertecies (list[np.ndarray | list[float | int]] | None, optional) – Either a list of positions of vertecies or None.
filename (str | None, optional) – The name for the file from which the Mesh data is loaded. The supported formats are .stl in binary and .obj in binary and ascii.
centered (bool, optional) – If this argument is set, vertecies are centered around the references frames origin.
asset (blue.assets.MeshAsset | None, optional) – A possible asset, from which the Mesh is constructed.
margin (int | float | None, optional) – A contact is considered active only if the distance between the two geom surfaces is below margin-gap.
gap (int | float | None, optional) – This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts.
material (blue.MaterialType, optional) – The Material of the Geom. :class:`Textures <blueprints.texture.BaseTexture> are applied via Materials.
x (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the X position coordinate.
y (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Y position coordinate.
z (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Z position coordinate.
**kwargs – Keyword arguments are passed to super().__init__.

Raises:

Exception – If neither a filename, vertecies or an asset are given an error is raised.

Return type:

None

property vertecies: list[ndarray]#

Modifying this attribute will create a new blueprints.cache.MeshCache object if the previous Cache was the children of multiple parents. Otherwise the Cache get modified directly.

Returns:: A list of all vertex positions.
Return type:: list[np.ndarray]

property pos: ndarray#

Modifying this attribute will create a new blueprints.assets.MeshAsset object if the previous Asset was the children of multiple parents. Otherwise the Asset get modified directly.

Return type:: np.ndarray | list[float | int]

property euler: ndarray#

Modifying this attribute will create a new blueprints.assets.MeshAsset object if the previous Asset was the children of multiple parents. Otherwise the Asset get modified directly.

Return type:: np.ndarray

property size: ndarray#

Modifying this attribute will create a new blueprints.cache.MeshCache object if the previous Cache was the children of multiple parents. Otherwise the Cache get modified directly.

Note

Altering this attribute also changes the vertecies attribute. To get the same effect without changing the vertecies, see scale.

Returns:: The size of the Mesh is calculated as the size of the Box with edges along the axes of the Meshes frame of reference, that captures all vertecies.
Return type:: np.ndarray

property scale: ndarray#

Modifying this attribute will create a new blueprints.assets.MeshAsset object if the previous Asset was the children of multiple parents. Otherwise the Asset get modified directly.

Note

If vertecies should be changed directly such that it adheres to the given scale, use size instead.

Returns:: The scaling of X-axis, Y-axis and Z-axis in each component. Analogous to size without changing vertecies.
Return type:: np.ndarray

class blueprints.geoms.HField[source]#

Bases: HFieldGeomType, BaseGeom

Height field are mesh-like Geoms with a rectangular shape and varing heights. The height data can either be given as a file or as a 2D numpy array (alternatively 2D list). Supported fileformats are PNG and the mujoco native HF format.

Terrain Data#

>>> ...
>>> spiral = np.array([ ... ])
>>> hfield = blue.geoms.HField(terrain=spiral)
# ALTERNATIVELY
>>> hfield = blue.geoms.HField(filename='spiral.hf')
>>> world.attach(hfield, plane, ball)

Terrain data can be edited at runtime by setting the hfield attribute.

Runtime Modification#

>>> n_frames = 1000
>>> terrain = blue.perlin((n_frames, 100, 100), periodic=True)
>>> ... # FURTHER TERRAIN PROCESSING
>>> hfield = blue.geoms.HField(terrain=terrain, color='orange')
>>> world.attach(hfield, copy=False)
>>> for n in range(total_steps//20):
>>>         world.step(n_steps=20)
>>>         hfield.terrain = terrain[n % n_frames, ...]

__init__(pos=[0.0, 0.0, 0.0], terrain=None, filename=None, x_length=1, y_length=1, z_length=1, height_offset=1, margin=0.0, gap=0.0, material=None, asset=None, x=None, y=None, z=None, **kwargs)[source]#

Parameters:

pos (list[int | float] | np.ndarray | None, optional) – Represents the position of the Thing. Changing this attribute also changes the properties x, y and z.
terrain (np.ndarray | list [ int | float ] | None) – The terrain data in the shape of a 2D array.
filename (str | None, optional) – The name for the file from which the HField data is loaded. The supported formats are .png and .hf.
x_length (int | float, optional) – The length of the HField along the x-axis.
y_length (int | float, optional) – The length of the HField along the y-axis.
z_length (int | float, optional) – The length of the HField along the z-axis.
height_offset (int | float | None) – The offset in height for the terrain data points.
margin (int | float | None, optional) – A contact is considered active only if the distance between the two geom surfaces is below margin-gap.
gap (int | float | None, optional) – This attribute is used to enable the generation of inactive contacts, i.e., contacts that are ignored by the constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is positive, geom distances between margin and margin-gap correspond to such inactive contacts.
material (blue.MaterialType, optional) – The Material of the Geom. :class:`Textures <blueprints.texture.BaseTexture> are applied via Materials.
asset (blue.assets.HFieldAsset | None, optional) – The Asset of the HField
name (str | None, optional) – The user specified name might potentially be altered to avoid a naming conflict by appending an enumeration scheme.
x (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the X position coordinate.
y (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Y position coordinate.
z (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Z position coordinate.
**kwargs – Keyword arguments passed to super().__init__

Return type:

None

property pos: ndarray#

Modifying this attribute will create a new blueprints.assets.MeshAsset object if the previous Asset was the children of multiple parents. Otherwise the Asset get modified directly.

Return type:: np.ndarray | list[float | int]

property terrain: ndarray#

Modifying this attribute will create a new blueprints.assets.MeshAsset object if the previous Asset was the children of multiple parents. Otherwise the Asset get modified directly.

Return type:: np.ndarray | list[float | int]

property euler: ndarray#

Modifying this attribute will create a new blueprints.assets.MeshAsset object if the previous Asset was the children of multiple parents. Otherwise the Asset get modified directly.

Return type:: np.ndarray

property size: ndarray#

Modifying this attribute will create a new blueprints.cache.MeshCache object if the previous Cache was the children of multiple parents. Otherwise the Cache get modified directly.

Note

Altering this attribute also changes the vertecies attribute. To get the same effect without changing the vertecies, see scale.

Returns:: The size of the Mesh is calculated as the size of the Box with edges along the axes of the Meshes frame of reference, that captures all vertecies.
Return type:: np.ndarray

property x_length: float#

Length along the X-axis of the HField.

Return type:: float

property y_length: float#

Length along the Y-axis of the HField.

Return type:: float

property z_length: float#

Length along the Z-axis of the HField.

Return type:: float

property height_offset#

Height offset along the Z-axis of the HField.

Return type:: float

blueprints.geoms module#

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