concepts.simulator.mplib.client.MPLibRobot

class MPLibRobot

Bases: object

Methods

from_pb_robot(robot)
get_qpos()
pad_move_group_qpos(qpos)	If qpos contains only the move_group joints, return qpos padded with current values of the remaining joints of articulation.
set_base_pose(pos, quat)
set_full_qpos(qpos)
set_planning_world(planning_world)
set_qpos(qpos)
set_qpos_context(qpos)

__init__(name, urdf_filename, ee_link_name, srdf_filename=None, new_package_keyword='', use_convex=False, joint_vel_limits=None, joint_acc_limits=None, verbose=False)

Parameters:

• name (str)

• urdf_filename (str)

• ee_link_name (str)

• srdf_filename (str | None)

• new_package_keyword (str)

• use_convex (bool)

• joint_vel_limits (Sequence[float] | None)

• joint_acc_limits (Sequence[float] | None)

• verbose (bool)

__new__(**kwargs)

classmethod from_pb_robot(robot)

get_qpos()

pad_move_group_qpos(qpos)

If qpos contains only the move_group joints, return qpos padded with current values of the remaining joints of articulation. Otherwise, verify number of joints and return.

Parameters:

• qpos – joint positions

• articulation – the articulation to get qpos from. If None, use self.robot

Returns:

joint positions with full dof

set_base_pose(pos, quat)

set_full_qpos(qpos)

set_planning_world(planning_world)

set_qpos(qpos)

set_qpos_context(qpos)