class
MobileManipulatorParamsData to configure a mobile manipulator. :property arm_joints: The joint ids of the arm joints. :property gripper_joints: The habitat sim joint ids of any grippers. :property wheel_joints: The joint ids of the wheels. If the wheels are not controlled, then this should be None
Special methods
- def __init__(self, arm_joints: typing.List[int], gripper_joints: typing.List[int], wheel_joints: typing.Optional[typing.List[int]], arm_init_params: typing.Optional[numpy.ndarray], gripper_init_params: typing.Optional[numpy.ndarray], ee_offset: magnum.Vector3, ee_link: int, ee_constraint: numpy.ndarray, cameras: typing.Dict[str, RobotCameraParams], gripper_closed_state: numpy.ndarray, gripper_open_state: numpy.ndarray, gripper_state_eps: float, arm_mtr_pos_gain: float, arm_mtr_vel_gain: float, arm_mtr_max_impulse: float, wheel_mtr_pos_gain: float, wheel_mtr_vel_gain: float, wheel_mtr_max_impulse: float, base_offset: magnum.Vector3, base_link_names: typing.Set[str]) -> None
- Method generated by attrs for class MobileManipulatorParams.
Properties
- arm_init_params: typing.Optional[numpy.ndarray] get set del
- The starting joint angles of the arm. If None, resets to 0.
- arm_joints: typing.List[int] get set del
- arm_mtr_max_impulse: float get set del
- arm_mtr_pos_gain: float get set del
- arm_mtr_vel_gain: float get set del
- base_link_names: typing.Set[str] get set del
- base_offset: magnum.Vector3 get set del
- cameras: typing.Dict[str, RobotCameraParams] get set del
- ee_constraint: numpy.ndarray get set del
- ee_link: int get set del
- ee_offset: magnum.Vector3 get set del
- gripper_closed_state: numpy.ndarray get set del
- gripper_init_params: typing.Optional[numpy.ndarray] get set del
- The starting joint positions of the gripper. If None, resets to 0.
- gripper_joints: typing.List[int] get set del
- gripper_open_state: numpy.ndarray get set del
- gripper_state_eps: float get set del
- wheel_joints: typing.Optional[typing.List[int]] get set del
- wheel_mtr_max_impulse: float get set del
- wheel_mtr_pos_gain: float get set del
- wheel_mtr_vel_gain: float get set del