Panda
- class panda_gym.envs.robots.panda.Panda(sim: PyBullet, block_gripper: bool = False, base_position: ndarray | None = None, control_type: str = 'ee')
Panda robot in PyBullet.
- Parameters:
sim (PyBullet) – Simulation instance.
block_gripper (bool, optional) – Whether the gripper is blocked. Defaults to False.
base_position (np.ndarray, optionnal) – Position of the base base of the robot, as (x, y, z). Defaults to (0, 0, 0).
control_type (str, optional) – “ee” to control end-effector displacement or “joints” to control joint angles. Defaults to “ee”.
- arm_joint_ctrl_to_target_arm_angles(arm_joint_ctrl: ndarray) ndarray
Compute the target arm angles from the arm joint control.
- Parameters:
arm_joint_ctrl (np.ndarray) – Control of the 7 joints.
- Returns:
np.ndarray – Target arm angles, as the angles of the 7 arm joints.
- ee_displacement_to_target_arm_angles(ee_displacement: ndarray) ndarray
Compute the target arm angles from the end-effector displacement.
- Parameters:
ee_displacement (np.ndarray) – End-effector displacement, as (dx, dy, dy).
- Returns:
np.ndarray – Target arm angles, as the angles of the 7 arm joints.
- get_ee_position() ndarray
Returns the position of the end-effector as (x, y, z)
- get_ee_velocity() ndarray
Returns the velocity of the end-effector as (vx, vy, vz)
- get_fingers_width() float
Get the distance between the fingers.
- get_obs() ndarray
Return the observation associated to the robot.
- Returns:
np.ndarray – The observation.
- reset() None
Reset the robot and return the observation.
- set_action(action: ndarray) None
Set the action. Must be called just before sim.step().
- Parameters:
action (np.ndarray) – The action.
- set_joint_neutral() None
Set the robot to its neutral pose.