habitat.articulated_agents.StaticManipulator class

Methods

def _update_motor_settings_cache(self)

Updates the JointMotorSettings cache for cheaper future updates

def _validate_arm_ctrl_input(self, ctrl: typing.List[float])

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

def calculate_ee_forward_kinematics(self, joint_state: numpy.ndarray, ee_index: int = 0) -> numpy.ndarray

Gets the end-effector position for the given joint state.

def calculate_ee_inverse_kinematics(self, ee_target_position: numpy.ndarray, ee_index: int = 0) -> numpy.ndarray

Gets the joint states necessary to achieve the desired end-effector configuration.

def clip_ee_to_workspace(self, pos: numpy.ndarray, ee_index: int = 0) -> numpy.ndarray

Clips a 3D end-effector position within region the robot can reach.

def close_gripper(self) -> None

Set gripper to the close state

def ee_link_id(self, ee_index: int = 0) -> int

Gets the Habitat Sim link id of the end-effector.

def ee_local_offset(self, ee_index: int = 0) -> _magnum.Vector3

Gets the relative offset of the end-effector center from the end-effector link.

def ee_transform(self, ee_index: int = 0) -> _magnum.Matrix4

Gets the transformation of the end-effector location. This is offset from the end-effector link location.

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 open_gripper(self) -> None

Set gripper to the open state

def reconfigure(self) -> None

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

def reset(self) -> None

Reset the joints on the existing robot. NOTE: only arm and gripper joint motors (not gains) are reset by default, derived class should handle any other changes.

def set_fixed_arm_joint_pos(self, fix_arm_joint_pos)

Will fix the arm to a desired position at every internal timestep. Can be used for kinematic arm control.

def set_gripper_target_state(self, gripper_state: float) -> None

Set the gripper motors to a desired symmetric state of the gripper [0,1] -> [open, closed]

def update(self) -> None

Updates the camera transformations and performs necessary checks on joint limits and sleep states.

Special methods

def __init__(self, params: StaticManipulatorParams, urdf_path: str, sim: habitat_sim.simulator.Simulator, limit_robo_joints: bool = True, fixed_base: bool = True)

Properties

arm_joint_limits: typing.Tuple[numpy.ndarray, numpy.ndarray] get

Get the arm joint limits in radians

arm_joint_pos get set

Get the current arm joint positions.

arm_motor_forces: numpy.ndarray get set

Get the current torques on the arm joint motors

arm_motor_pos get set

Get the current target of the arm joints motors.

arm_velocity: numpy.ndarray get

Get the velocity of the arm joints.

gripper_joint_pos get set

Get the current gripper joint positions.

is_gripper_closed: bool get

True if all gripper joints are within eps of the closed state.

is_gripper_open: bool get

True if all gripper joints are within eps of the open state.

Method documentation