concepts.simulator.sapien2.test_planning.SapienPlanner#

class SapienPlanner[source]#

Bases: Planner

Methods

update_from_simulation(*[, ...])

Updates PlanningWorld's articulations/objects pose with current Scene state.

__call__(*args, **kwargs)#

Call self as a function.

Parameters:

args (Any)
kwargs (Any)

Return type:

Any

__getitem__(key)#

Parameters:: key (Any)
Return type:: _MockObject

__init__(sapien_planning_world, move_group, *, joint_vel_limits=None, joint_acc_limits=None)[source]#

Creates an mplib.planner.Planner from a SapienPlanningWorld.

Parameters:

sapien_planning_world (SapienPlanningWorld) – a SapienPlanningWorld created from sapien.Scene
move_group (str) – name of the move group (end effector link)
joint_vel_limits (Sequence[float] | ndarray | None) – joint velocity limits for time parameterization
joint_acc_limits (Sequence[float] | ndarray | None) – joint acceleration limits for time parameterization

__iter__()#

Return type:: Iterator[Any]

__len__()#

Return type:: int

static __new__(cls, *args, **kwargs)#

Parameters:

args (Any)
kwargs (Any)

Return type:

Any

update_from_simulation(*, update_attached_object=True)[source]#

Updates PlanningWorld’s articulations/objects pose with current Scene state. Note that shape’s local_pose is not updated. If those are changed, please recreate a new SapienPlanningWorld instance.

Directly calls SapienPlanningWorld.update_from_simulation()

Parameters:: update_attached_object (bool) – whether to update the attached pose of all attached objects
Return type:: None