concepts.simulator.pybullet.components.robot_base.BulletRobotBase#

class BulletRobotBase[source]#

Bases: BulletComponent

Methods

`do`(action_name, args, *kwargs)	Execute an action primitive.
`get_body_id`()	Get the pybullet body ID of the robot.
`get_body_pose`()	Get the pose of the robot body.
`get_dof`()	Get the total degrees of freedom of the robot.
`get_home_qpos`()	Get the home joint configuration.
`get_joint_ids`()	Get the pybullet joint IDs of the robot.
`get_joint_limits`()	Get the joint limits.
`get_qpos`()	Get the current joint configuration.
`get_qvel`()	Get the current joint velocity.
`register_action`(name, func[, interface])	Register an action primitive.
`reset_home_qpos`()	Reset the home joint configuration.
`set_ik_method`(ik_method)
`set_qpos`(qpos)	Set the joint configuration.
`set_qpos_with_holding`(qpos)	Set the joint configuration with the gripper holding the object.
`set_suppress_warnings`([value])
`suppress_warnings`()

Attributes

`p`
`w`
`world`

__init__(client, body_name=None, gripper_objects=None, current_interface='pybullet', ik_method='pybullet')[source]#

Parameters:

client (BulletClient)
body_name (str | None)
gripper_objects (Dict[str, List[int]] | None)
ik_method (str | IKMethod)

__new__(**kwargs)#

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

Execute an action primitive.

Parameters:: action_name (str) – Name of the action primitive.
Returns:: True if the action primitive is successful.
Return type:: bool

get_body_id()[source]#

Get the pybullet body ID of the robot.

Returns:: Body ID of the robot.
Return type:: int

get_body_pose()[source]#

Get the pose of the robot body.

Returns:: 3D position and 4D quaternion of the robot body.
Return type:: Tuple[np.ndarray, np.ndarray]

get_dof()[source]#

Get the total degrees of freedom of the robot.

Returns:: Total degrees of freedom.
Return type:: int

get_home_qpos()[source]#

Get the home joint configuration.

Return type:: ndarray

get_joint_ids()[source]#

Get the pybullet joint IDs of the robot.

Returns:: Joint IDs of the robot.
Return type:: Sequence[int]

get_joint_limits()[source]#

Get the joint limits.

Returns:: Lower and upper joint limits.
Return type:: Tuple[np.ndarray, np.ndarray]

get_qpos()[source]#

Get the current joint configuration.

Returns:: Current joint configuration.
Return type:: np.ndarray

get_qvel()[source]#

Get the current joint velocity.

Returns:: Current joint velocity.
Return type:: np.ndarray

register_action(name, func, interface=None)[source]#

Parameters:

name (str) – name of the action primitive.
func (Callable) – function that implements the action primitive.
interface (str | None) – interface of the action primitive. Defaults to None. If None, the action primitive is registered for the current interface.

Raises:

ValueError – If the action primitive is already registered.

Return type:

None

reset_home_qpos()[source]#: Reset the home joint configuration.

set_ik_method(ik_method)[source]#

Parameters:: ik_method (str | IKMethod)

set_qpos(qpos)[source]#

Set the joint configuration.

Parameters:: qpos (ndarray) – Joint configuration.
Return type:: None

set_qpos_with_holding(qpos)[source]#

Set the joint configuration with the gripper holding the object.

Parameters:: qpos (ndarray) – Joint configuration.
Return type:: None

set_suppress_warnings(value=True)[source]#

Parameters:: value (bool)

suppress_warnings()[source]#

property p#

property w#

property world#