pybullet_rendering
External rendering for PyBullet simulator.
Install
Using pip
pip install pybullet_rendering
From source code
Install NumPy
pip install numpy
Install PyBullet from source code
git clone https://github.com/bulletphysics/bullet3.git
cd bullet3
python setup.py install
export BULLET_ROOT_DIR="$PWD"
Install the package
cd ..
git clone https://github.com/ikalevatykh/pybullet_rendering.git
cd pybullet_rendering
python setup.py install --bullet_dir "$BULLET_ROOT_DIR"
Run tests
python -m unittest discover tests -v
Run examples
Example of using Panda3D for rendering in GUI mode:
python -m pybullet_rendering.examples.panda3d_gui --multisamples 8
Test performance of diferent renderers:
python -m pybullet_rendering.examples.performance
Renderers
This package provide example renderers based on Panda3D and pyrender.
Example of usage
import pybullet as pb
from pybullet_rendering import RenderingPlugin
from pybullet_rendering.render.panda3d import P3dRenderer # panda3d-based renderer
from pybullet_rendering.render.pyrender import PyrRenderer # pyrender-based renderer
client_id = pb.connect(pb.DIRECT)
# bind your renderer to pybullet
renderer = P3dRenderer(multisamples=4) # or PyrRenderer(platform='egl', egl_device=1)
plugin = RenderingPlugin(client_id, renderer)
# render thru the standard pybullet API
w, h, rgba, depth, mask = pb.getCameraImage(w, h, projectionMatrix=..., viewMatrix=...)Implement your own renderer in Python
Your renderer should inherit from the BaseRenderer class and implement its update_scene and render_frame methods. To get an idea of their parameters, see examples and tests.
from pybullet_rendering import BaseRenderer
class MyRenderer(BaseRenderer):
def __init__(self):
"""The base class initializer have to be called first."""
BaseRenderer.__init__(self)
def update_scene(self, scene_graph, materials_only):
"""Update a scene using scene_graph description
Arguments:
scene_graph {SceneGraph} -- scene description
materials_only {bool} -- update only shape materials
"""
for uid, pb_node in scene_graph.nodes.items():
"update nodes of your scene"
def render_frame(self, scene_state, scene_view, frame):
"""Render a scene at scene_state with a scene_view settings
Arguments:
scene_state {SceneState} -- scene state, e.g. transformations of all objects
scene_view {SceneView} -- view settings, e.g. camera, light, viewport parameters
frame {FrameData} -- output image buffer
"""
w, h = scene_view.viewport
if return_to_bullet:
frame.color_img[:] = ... # np.uint8, (h,w,4)
frame.depth_img[:] = ... # np.float32 (h,w)
frame.mask_img[:] = ... # np.int32 (h,w)
return True
return False Citation
If you find pybullet_rendering useful in your research, please cite the repository using the following BibTeX entry.
@Misc{kalevatykh2020pybullet_rendering,
author = {Kalevatykh, Igor et al.},
title = {pybullet_rendering - External rendering for the PyBullet simulator},
howpublished = {Github},
year = {2020},
url = {https://github.com/ikalevatykh/pybullet_rendering}
}
License
mano_pybullet is released under the GPLv3 license.
