concepts.dm.crowhat.domains.pybullet_single_robot_rwi_pp_simplified.PyBulletSingleArmRWIPPSimplifiedDomain#

class PyBulletSingleArmRWIPPSimplifiedDomain[source]#

Methods

`bind_executor_functions`()
`bind_perception_interface`(perception_interface)
`bind_simulation_interface`(simulation_interface)

Attributes

`domain_filename`
`world`	The PyBullet world.
`client`	The PyBullet client.
`robot`	The Panda robot in the PyBullet environment.
`metainfo`	The metainfo of the scene.
`verbose`	Whether to print verbose information.
`domain`	The domain of the RWI-PP-Simplified domain.
`executor`	The executor of the RWI-PP-Simplified domain.

__init__(robot, scene_metainfo, verbose=False, check_z_in_on_test=False, use_specialized_block_placement_sampler=True)[source]#

Initialize the RWI-PP-Simplified domain.

Parameters:

robot (BulletArmRobotBase) – the robot in the PyBullet environment.
scene_metainfo (QDDLSceneMetainfo) – the metainfo of the scene.
verbose (bool) – whether to print verbose information.
check_z_in_on_test (bool) – whether to check object1.z > object2.z when testing “on(object1, object2)”.
use_specialized_block_placement_sampler (bool) – whether to use a specialized block placement sampler. When the object to be placed onto is a block, we will use a specialized sampler that always return the “center” of the block as the placement position.

bind_perception_interface(perception_interface)[source]#

bind_simulation_interface(simulation_interface)[source]#

Parameters:: simulation_interface (PyBulletSimulationControllerInterface)

domain_filename = '/Users/jiayuanm/Projects/Concepts/concepts/dm/crowhat/domains/RWI-pp-simplified.cdl'#