rofunc.simulator.qbsofthand_sim

1.  Module Contents

1.1.  Classes

QbSoftHandSim

1.2.  API

class rofunc.simulator.qbsofthand_sim.QbSoftHandSim(args)

Bases: rofunc.simulator.base_sim.RobotSim

Initialization

Initialize the robot-centered simulator

Parameters:

args – arguments

setup_robot_dof_prop(gym=None, envs=None, robot_asset=None, robot_handles=None)

show(visual_obs_flag=False, camera_props=None, attached_body=None, local_transform=None)

Visualize the CURI robot :param visual_obs_flag: if True, show visual observation :param camera_props: If visual_obs_flag is True, use this camera_props to config the camera :param attached_body: If visual_obs_flag is True, use this to refer the body the camera attached to :param local_transform: If visual_obs_flag is True, use this local transform to adjust the camera pose

update_robot(traj, attractor_handles, axes_geom, sphere_geom, index, verbose=True)

run_traj(traj, attracted_rigid_bodies=None, update_freq=0.001, verbose=True, **kwargs)