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.