ArticulatedAgentBase class
Generic interface defining standard API functions for a robot with a controllable base.
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
- 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
def habitat.
Constructor
| Parameters | |
|---|---|
| params | The parameter of the base articulated agent. |
| urdf_path | The path to the articulated agent’s URDF file. |
| sim | The simulator. |
| limit_robo_joints | If true, joint limits of articulated agent are always enforced. |
| fixed_based | |
| maintain_link_order | Whether to to preserve the order of links parsed from URDF files as link indices. Needed for compatibility with PyBullet. |
| base_type | |
| sim_obj | Pointer to the simulated object |
| kwargs | |