concepts.simulator.pybullet.components.multi_robot_controller.MultiRobotController#

class MultiRobotController[source]#

Bases: BulletComponent

Methods

`disable_recoding`()
`do`(robot_index, action_name, **kwargs)	Execute an action on a specific robot.
`do_synchronized_ee_pose_trajectories`(...)	Execute a synchronized ee pose trajectory action on multiple robots.
`do_synchronized_qpos_trajectories_auto_smoothing`(...)	Execute a synchronized qpos trajectory auto-smoothing action on multiple robots.
`enable_recording`()
`get_concat_qpos`()
`make_sync_context`()
`replay`(commands)	Replay a sequence of recorded commands.
`stable_reset`([nr_steps])	Reset the robots to a stable state by holding their current positions.

Attributes

`ACTION_NAME_MAPPING`
`p`
`w`
`world`
`robots`	The sequence of robot arms controlled by this MultiRobotController.
`current_ctx`	The current synchronization context, if any.
`recording_enabled`	Whether command recording is enabled.
`recorded_commands`	The list of recorded commands when recording is enabled.

__init__(robots)[source]#

Parameters:: robots (Sequence[BulletArmRobotBase])

__new__(**kwargs)#

disable_recoding()[source]#

do(robot_index, action_name, **kwargs)[source]#

Execute an action on a specific robot.

Parameters:

robot_index (int) – index of the robot to perform the action on.
action_name (str) – name of the action to perform.
**kwargs – additional keyword arguments for the action.

Returns:

a control command object representing the action.

Raises:

AssertionError – If the robot index is out of range.

Return type:

_ControlCommand

do_synchronized_ee_pose_trajectories(trajectories)[source]#

Execute a synchronized ee pose trajectory action on multiple robots.

Parameters:

trajectories (Sequence[Sequence[Tuple[ndarray, ndarray]]]) – a sequence of ee pose trajectories for each robot.

Raises:

AssertionError – If the number of trajectories does not match the number of robots.
AssertionError – If the length of the trajectories does not match.

do_synchronized_qpos_trajectories_auto_smoothing(trajectories, step_size=1, gains=0.3, atol=0.03, timeout=20, verbose=False)[source]#

Execute a synchronized qpos trajectory auto-smoothing action on multiple robots.

Parameters:

trajectories (Sequence[Sequence[ndarray]]) – a sequence of qpos trajectories for each robot.
step_size (float) – the step size for the auto-smoothing.
gains (float) – the gains for the auto-smoothing.
atol (float) – the absolute tolerance for the auto-smoothing.
timeout (float) – the timeout for the auto-smoothing.
verbose (bool) – whether to print verbose output.

Raises:

AssertionError – If the number of trajectories does not match the number of robots.
AssertionError – If the length of the trajectories does not match.

enable_recording()[source]#

get_concat_qpos()[source]#

make_sync_context()[source]#

replay(commands)[source]#

Replay a sequence of recorded commands.

Parameters:: commands – a sequence of recorded commands to replay.
Raises:: AssertionError – If the recording is enabled.

stable_reset(nr_steps=10)[source]#

Reset the robots to a stable state by holding their current positions.

Parameters:: nr_steps – the number of steps to hold the positions.

ACTION_NAME_MAPPING = {'close_gripper_free': 'close_gripper_free_set_control', 'grasp': 'grasp_set_control', 'move_cartesian_trajectory': 'move_cartesian_trajectory_set_control', 'move_qpos': 'move_qpos_set_control', 'move_qpos_path_v2': 'move_qpos_path_v2_set_control', 'open_gripper_free': 'open_gripper_free_set_control'}#

current_ctx: MultiRobotControllerContext | None#: The current synchronization context, if any.

property p#

recorded_commands: List[RecordedControlCommand]#: The list of recorded commands when recording is enabled.

recording_enabled: bool#: Whether command recording is enabled.

robots: Sequence[BulletArmRobotBase]#: The sequence of robot arms controlled by this MultiRobotController.

property w#

property world#