habitat_sim.robots.MobileManipulator 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) -> numpy.ndarray

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

def calculate_ee_inverse_kinematics(self, ee_target_position: numpy.ndarray) -> numpy.ndarray

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

def clip_ee_to_workspace(self, pos: numpy.ndarray) -> 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 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 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: MobileManipulatorParams, urdf_path: str, sim: simulator.Simulator, limit_robo_joints: bool = True, fixed_base: bool = True)

Constructor

Properties

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

Get the arm joint limits in radians

arm_joint_pos: numpy.ndarray get set

Get the current arm joint positions.

arm_motor_pos: numpy.ndarray get set

Get the current target of the arm joints motors.

arm_velocity: numpy.ndarray get

Get the velocity of the arm joints.

base_pos get set

Get the robot base ground position via configured local offset from origin.

base_rot: float get set

base_transformation get

ee_link_id: int get

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

ee_local_offset: magnum.Vector3 get

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

ee_transform: magnum.Matrix4 get

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

gripper_joint_pos: numpy.ndarray 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