concepts.simulator.pybullet.components.robot_base.Robot#

Bases: BulletComponent

Methods

`do`(action_name, args, *kwargs)	Execute an action primitive.
`fk`(qpos[, link_name_or_id])	Forward kinematics.
`get_ee_home_pos`()	Get the home position of the end effector.
`get_ee_home_quat`()	Get the home orientation of the end effector.
`get_ee_pose`([fk])	Get the pose of the end effector.
`get_ee_velocity`([fk])	Get the velocity of the end effector.
`get_gripper_state`()	Get the gripper state.
`get_home_qpos`()	Get the home joint configuration.
`get_jacobian`([qpos, link_id])	Get the Jacobian matrix.
`get_qpos`()	Get the current joint configuration.
`get_robot_body_id`()	Get the pybullet body ID of the robot.
`get_robot_ee_link_id`()	Get the pybullet link ID of the robot end effector.
`ik`(pos, quat[, force, max_distance, ...])	Inverse kinematics.
`ik_pybullet`(pos, quat[, force, verbose])	Inverse kinematics using pybullet.
`ikfast`(pos, quat[, last_qpos, max_attempts, ...])	Inverse kinematics using IKFast.
`move_home`([timeout])	Move the robot to the home configuration.
`move_pose`(pos, quat[, speed, force, verbose])	Move the end effector to the given pose.
`move_qpos`(target_qpos[, speed, timeout, ...])	Move the robot to the given joint configuration.
`move_qpos_trajectory`(qpos_trajectory[, ...])	Move the robot along the given joint configuration trajectory.
`move_qpos_trajectory_v2`(qpos_trajectory[, ...])	A customized version of move_qpos_trajectory.
`register_action`(name, func[, interface])	Register an action primitive.
`replay_qpos_trajectory`(qpos_trajectory[, ...])	Replay a joint confifguartion trajectory.
`reset_home_qpos`()	Reset the home joint configuration.
`rrt_collision_free`(pos1[, pos2, ...])	RRT-based collision-free path planning.
`set_ee_pose`(pos, quat)	Set the pose of the end effector by inverse kinematics.
`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

fk(qpos, link_name_or_id=None)[source]#

Forward kinematics.

Parameters:

qpos (ndarray) – Joint configuration.
link_name_or_id (str | int | None) – name or id of the link. If not specified, the pose of the end effector is returned.

Returns:

3D position and 4D quaternion of the end effector.

Return type:

Tuple[np.ndarray, np.ndarray]

get_ee_home_pos()[source]#

Get the home position of the end effector.

Return type:: ndarray

get_ee_home_quat()[source]#

Get the home orientation of the end effector.

Return type:: ndarray

get_ee_pose(fk=True)[source]#

Get the pose of the end effector.

Parameters:: fk (bool) – whether to run forward kinematics to re-compute the pose.
Returns:: 3D position and 4D quaternion of the end effector.
Return type:: Tuple[np.ndarray, np.ndarray]

get_ee_velocity(fk=True)[source]#

Get the velocity of the end effector.

Returns:: 3D linear velocity and 3D angular velocity of the end effector.
Return type:: Tuple[np.ndarray, np.ndarray]
Parameters:: fk (bool) –

get_gripper_state()[source]#

Get the gripper state.

Returns:: True if the gripper is activated.
Return type:: Optional[bool]

get_home_qpos()[source]#

Get the home joint configuration.

Return type:: ndarray

get_jacobian(qpos=None, link_id=None)[source]#

Get the Jacobian matrix.

Parameters:

qpos (ndarray | None) – Joint configuration.
link_id (int | None) – id of the link. If not specified, the Jacobian of the end effector is returned.

Returns:

Jacobian matrix. The shape is (6, nr_moveable_joints).

Return type:

np.ndarray

get_qpos()[source]#

Get the current joint configuration.

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

get_robot_body_id()[source]#

Get the pybullet body ID of the robot.

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

get_robot_ee_link_id()[source]#

Get the pybullet link ID of the robot end effector.

Returns:: Link ID of the robot end effector.
Return type:: int

ik(pos, quat, force=False, max_distance=float('inf'), max_attempts=1000, verbose=False)[source]#

Inverse kinematics.

Parameters:

pos (ndarray) – 3D position of the end effector.
quat (ndarray) – 4D quaternion of the end effector.
force (bool) – Whether to force the IK solver to return a solution. Defaults to False. If set, the IK solve may return a solution even if the end effector is not at the given pose. This function is useful for debugging and for moving towards a certain direction.
max_distance (float) – Maximum distance between the last qpos and the solution (Only used for IKFast). Defaults to float(‘inf’).
max_attempts (int) – Maximum number of attempts (only used for IKFast). Defaults to 1000.
verbose (bool) – Whether to print debug information.

Returns:

Joint configuration.

Return type:

np.ndarray

ik_pybullet(pos, quat, force=False, verbose=False)[source]#

Inverse kinematics using pybullet.

Parameters:

pos (ndarray) – 3D position of the end effector.
quat (ndarray) – 4D quaternion of the end effector.
force (bool) – Whether to force the IK solver to return a solution. Defaults to False. If set, the IK solve may return a solution even if the end effector is not at the given pose. This function is useful for debugging and for moving towards a certain direction.
verbose (bool) – Whether to print debug information.

Returns:

Joint configuration.

Return type:

np.ndarray

ikfast(pos, quat, last_qpos=None, max_attempts=1000, max_distance=float('inf'), error_on_fail=True, verbose=False)[source]#

Inverse kinematics using IKFast.

Parameters:

pos (ndarray) – 3D position of the end effector.
quat (ndarray) – 4D quaternion of the end effector.
last_qpos (ndarray | None) – Last joint configuration. Defaults to None. If None, the current joint configuration is used.
max_attempts (int) – Maximum number of IKFast attempts. Defaults to 1000.
max_distance (float) – Maximum distance between the target pose and the end effector. Defaults to float(‘inf’).
error_on_fail (bool) – Whether to raise an error if the IKFast solver fails. Defaults to True.
verbose (bool) – Whether to print debug information.

Returns:

Joint configuration.

Return type:

np.ndarray

move_home(timeout=10.0)[source]#

Move the robot to the home configuration.

Parameters:: timeout (float) –
Return type:: bool

move_pose(pos, quat, speed=0.01, force=False, verbose=False)[source]#

Move the end effector to the given pose.

Parameters:

pos – 3D position of the end effector.
quat – 4D quaternion of the end effector.
speed – Speed of the movement. Defaults to 0.01.
force (bool) – Whether to force the IK solver to return a solution. Defaults to False. If set, the IK solve may return a solution even if the end effector is not at the specified pose.
verbose (bool) – Whether to print debug information.

Returns:

True if the movement is successful.

Return type:

bool

move_qpos(target_qpos, speed=0.01, timeout=10.0, local_smoothing=True)[source]#

Move the robot to the given joint configuration.

Parameters:

target_qpos (ndarray) – Target joint configuration.
speed (float) – Speed of the movement. Defaults to 0.01.
timeout (float) – Timeout of the movement. Defaults to 10.
local_smoothing (bool) – Whether to use local smoothing. Defaults to True.

Returns:

True if the movement is successful.

Return type:

bool

move_qpos_trajectory(qpos_trajectory, speed=0.01, timeout=10, first_timeout=None, local_smoothing=True, verbose=False)[source]#

Move the robot along the given joint configuration trajectory.

Parameters:

qpos_trajectory (Iterable[ndarray]) – Joint configuration trajectory.
speed (float) – Speed of the movement. Defaults to 0.01.
timeout (float) – Timeout of the movement. Defaults to 10.
first_timeout (float | None) – Timeout of the first movement. Defaults to None (same as timeout).
local_smoothing (bool) – Whether to use local smoothing. Defaults to True.
verbose (bool) – Whether to print debug information.

Returns:

True if the movement is successful.

Return type:

bool

move_qpos_trajectory_v2(qpos_trajectory, timeout=20)[source]#

A customized version of move_qpos_trajectory. It allows the user to specify path tracking mechanisms.

Parameters:

qpos_trajectory (Iterable[ndarray]) – joint configuration trajectory.
timeout (float) – timeout of the movement.

Returns:

True if the movement is successful.

Return type:

bool

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

replay_qpos_trajectory(qpos_trajectory, verbose=True)[source]#

Replay a joint confifguartion trajectory. This function is useful for debugging a generated joint trajectory.

Parameters:

qpos_trajectory (Iterable[ndarray]) – joint configuration trajectory.
verbose (bool) – whether to print debug information.

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

rrt_collision_free(pos1, pos2=None, smooth_fine_path=False, disable_renderer=True, **kwargs)[source]#

RRT-based collision-free path planning.

Parameters:

pos1 (ndarray) – Start position.
pos2 (ndarray | None) – End position. If None, the current position is used.
smooth_fine_path (bool) – Whether to smooth the path. Defaults to False.
disable_renderer (bool) – Whether to disable the renderer. Defaults to True.
kwargs – Additional arguments.

Returns:

True if the path is collision-free. List[np.ndarray]: Joint configuration trajectory.

Return type:

bool

set_ee_pose(pos, quat)[source]#

Set the pose of the end effector by inverse kinematics. Return True if the IK solver succeeds.

Parameters:

pos (ndarray) – 3D position of the end effector.
quat (ndarray) – 4D quaternion of the end effector.

Returns:

True if the IK solver succeeds.

Return type:

bool

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#