feat: add Python access to Environment primitives#105
Merged
Conversation
claytonwramsey
force-pushed
the
read-environment
branch
from
461b987 to
53b7f87
Compare
zkingston
approved these changes
May 1, 2026
Collaborator
zkingston
left a comment
zkingston
left a comment
There was a problem hiding this comment.
LGTM. I think for the simple primitives (i.e., not heightfields and pointclouds) access would be fine. There is a potential footgun with the z_aligned_* primitives.
Member
Author
|
Leaving as read-only for now. If we find a use case for making them writable it's a non-breaking change to update it, so it's easy for us to fix. |
H-tr
added a commit
to Robot-TLab/vamp-prob
that referenced
this pull request
May 13, 2026
Mirrors the existing Sphere/Cuboid/Cylinder binding pattern: - ``GaussianObstacle(mean, sigma_upper, alpha=1.0)`` constructor - read-only access to mean/covariance components + alpha + three_sigma_extent + min_distance + name - ``mean`` and ``sigma_upper`` convenience properties returning packed arrays. Environment gains ``add_gaussian_obstacle`` (calls ``sort()`` after push, matching ``add_sphere``) and the read-only ``gaussian_obstacles`` property (mirrors the recent KavrakiLab#105 commit that exposed the other primitives). Pure additive: deterministic deserialisation and existing pybind callers are unaffected.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This adds access to the list of primitives in a vamp environment. This is helpful for (e.g.) connecting other visualizers beyond the basic PyBullet visualizer.
Question -- should access maybe be mutable instead to allow direct adjustment of the primitive set?