rofunc.simulator.base_sim

`rofunc.simulator.base_sim`#

1. Module Contents#

1.1. Classes#

`PlaygroundSim`
`RobotSim`

1.2. API#

class rofunc.simulator.base_sim.PlaygroundSim(args)[source]#

Initialization

init_sim()[source]#

init_viewer()[source]#

init_plane()[source]#

class rofunc.simulator.base_sim.RobotSim(args)[source]#

Initialization

Initialize the robot-centered simulator

Parameters:: args – arguments

create_env()[source]#

setup_robot_dof_prop()[source]#

add_object()[source]#

add_tracking_target_sphere_axes()[source]#: Visualize the tracking target as a sphere with axes

add_marker(marker_pose)[source]#

add_body_attached_camera(camera_props=None, attached_body=None, local_transform=None)[source]#

monitor_rigid_body_states()[source]#

monitor_dof_states()[source]#

monitor_robot_jacobian(robot_name=None)[source]#

monitor_robot_mass_matrix(robot_name=None)[source]#

show(visual_obs_flag=False)[source]#: Visualize the robot in an interactive viewer :param visual_obs_flag: If True, show the visual observation

get_num_bodies()[source]#

get_actor_rigid_body_info(actor_handle)[source]#

get_dof_info()[source]#

get_robot_state(mode)[source]#

abstract update_robot(traj, attractor_handles, axes_geom, sphere_geom, index)[source]#

update_object(object_handles, object_poses, state_type)[source]#

Update the object pose

Parameters:

object_handles –
object_poses –
state_type – gymapi.STATE_ALL, gymapi.STATE_POS, gymapi.STATE_VEL

Returns:

run_traj_multi_rigid_bodies(traj: List, attracted_rigid_bodies: List = None, object_start_pose: List = None, object_end_pose: List = None, object_related_joints: List = None, update_freq=0.001, verbose=True)[source]#

Run the trajectory with multiple rigid bodies, the default is to run the trajectory with the left and right hand of bimanual robot.