habitat_sim.robots.RobotInterface class

Generic robot interface defines standard API functions.


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 reconfigure(self)
Instantiates the robot the scene. Loads the URDF, sets initial state of parameters, joints, motors, etc…
def reset(self)
Reset the joint and motor states of an existing robot.
def update(self)
Updates any properties or internal systems for the robot such as camera transformations, joint limits, and sleep states.

Special methods

def __init__(self)
Initializes this wrapper, but does not instantiate the robot.