RobotInterface class
Generic robot interface defines standard API functions.
Methods
- 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 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.