Robot
- class panda_gym.envs.core.PyBulletRobot(sim: PyBullet, body_name: str, file_name: str, base_position: ndarray, action_space: Space, joint_indices: ndarray, joint_forces: ndarray)
Base class for robot env.
- Parameters:
sim (PyBullet) – Simulation instance.
body_name (str) – The name of the robot within the simulation.
file_name (str) – Path of the urdf file.
base_position (np.ndarray) – Position of the base of the robot as (x, y, z).
- control_joints(target_angles: ndarray) None
Control the joints of the robot.
- Parameters:
target_angles (np.ndarray) – The target angles. The length of the array must equal to the number of joints.
- get_joint_angle(joint: int) float
Returns the angle of a joint
- Parameters:
joint (int) – The joint index.
- Returns:
float – Joint angle
- get_joint_velocity(joint: int) float
Returns the velocity of a joint as (wx, wy, wz)
- Parameters:
joint (int) – The joint index.
- Returns:
np.ndarray – Joint velocity as (wx, wy, wz)
- get_link_position(link: int) ndarray
Returns the position of a link as (x, y, z)
- Parameters:
link (int) – The link index.
- Returns:
np.ndarray – Position as (x, y, z)
- get_link_velocity(link: int) ndarray
Returns the velocity of a link as (vx, vy, vz)
- Parameters:
link (int) – The link index.
- Returns:
np.ndarray – Velocity as (vx, vy, vz)
- abstract get_obs() ndarray
Return the observation associated to the robot.
- Returns:
np.ndarray – The observation.
- inverse_kinematics(link: int, position: ndarray, orientation: ndarray) ndarray
Compute the inverse kinematics and return the new joint values.
- Parameters:
link (int) – The link.
position (x, y, z) – Desired position of the link.
orientation (x, y, z, w) – Desired orientation of the link.
- Returns:
List of joint values.
- abstract reset() None
Reset the robot and return the observation.
- abstract set_action(action: ndarray) None
Set the action. Must be called just before sim.step().
- Parameters:
action (np.ndarray) – The action.
- set_joint_angles(angles: ndarray) None
Set the joint position of a body. Can induce collisions.
- Parameters:
angles (list) – Joint angles.
- setup() None
Called after robot loading.