habitat.articulated_agents.ArticulatedAgentBase class

Methods

def _update_motor_settings_cache(self)

Updates the JointMotorSettings cache for cheaper future updates

def _validate_ctrl_input(self, ctrl: typing.List[float], joints: typing.List[int])

Raises an exception if the control input is NaN or does not match the joint dimensions.

def get_link_and_joint_names(self) -> str

Get a string listing all robot link and joint names for debugging purposes.

def get_robot_sim_id(self) -> int

Get the unique id for referencing the robot.

def is_base_link(self, link_id: int) -> bool

def reconfigure(self) -> None

Instantiates the robot the scene. Loads the URDF, sets initial state of parameters, joints, motors, etc…

def reset(self) -> None

Set joint positions and motors back to the initial configuration.

def update(self) -> None

def update_base(self, rigid_state, target_rigid_state)

Special methods

def __init__(self, params, urdf_path: str, sim: habitat_sim.simulator.Simulator, limit_robo_joints: bool = True, fixed_based: bool = True, maintain_link_order = False, base_type = 'mobile', sim_obj = None, **kwargs)

Constructor

Properties

base_pos get set

Get the robot base ground position

base_rot: float get set

Returns scalar rotation angle of the agent around the Y axis. Within range (-pi,pi) consistency with setter is tested. Outside that range, an equivalent but distinct rotation angle may be returned (e.g. 2pi == -2pi == 0).

base_transformation get

leg_joint_pos get set

Get the current arm joint positions.

leg_motor_pos get set

Get the current target of the leg joint motors.

Method documentation