pybullet_robot_driver.BulletRobotDriver Class Reference

Inheritance diagram for pybullet_robot_driver.BulletRobotDriver:

Public Member Functions
None	__init__ (self, component_name=str, Dict[str, Any] component_config=None, Any client=None)
	Create a robot driver for PyBullet.
None	load_robot (self, base_position=None, base_orientation=None, q_init=None)
	Load the robot model into the simulator.
bool	check_torque_status (self)
	get infos ##
Dict[str, float]	pass_joint_positions (self, List[str] joints)
	Return the current joint positions.
Dict[str, float]	pass_joint_velocities (self, List[str] joints)
	Return the current joint velocities.
Dict[str, float]	pass_joint_efforts (self, List[str] joints)
	Return the current joint efforts.
None	pass_joint_group_control_cmd (self, str control_mode, Dict[str, float] cmd, **kwargs)
	control ##
None	sim_reset (self, List[float] base_pos, List[float] base_orn, List[float] q_init)
	misc.
Public Member Functions inherited from ark.system.driver.robot_driver.SimRobotDriver
None	__init__ (self, str component_name, Dict[str, Any] component_config=None, bool sim=True)
	Initialize the simulation driver.
None	shutdown_driver (self)
	Shut down the simulation driver.
Public Member Functions inherited from ark.system.driver.robot_driver.RobotDriver
None	__init__ (self, str component_name, Dict[str, Any] component_config=None, bool sim=True)
	Construct the driver.
Public Member Functions inherited from ark.system.driver.component_driver.ComponentDriver
None	__init__ (self, str component_name, Any component_config=None, bool sim=True)
	Initialize the driver.
	is_sim (self)
	Return whether this driver is running in simulation mode.

Public Attributes
	client = client
	base_position = self.config.get("base_position", [0.0, 0.0, 0.0])
	base_orientation = self.config.get("base_orientation", [0.0, 0.0, 0.0, 1.0])
	initial_configuration = self.config.get("initial_configuration", [0.0] * self.client.getNumJoints(self.ref_body_id))
	num_joints = self.client.getNumJoints(self.ref_body_id)
dict	bullet_joint_infos = {}
dict	actuated_joints = {}
dict	joints = {}
	ref_body_id
Public Attributes inherited from ark.system.driver.component_driver.ComponentDriver
	component_name = component_name
	config = self._load_single_section(component_config, component_name)
	sim = sim

Additional Inherited Members
Protected Member Functions inherited from ark.system.driver.component_driver.ComponentDriver
	_load_single_section (self, component_config, component_name)
	Load the configuration of a single component from a YAML file.

Detailed Description

Robot driver that interfaces with the PyBullet simulation.

Constructor & Destructor Documentation

__init__()

None pybullet_robot_driver.BulletRobotDriver.__init__	(		self,
			component_name = str,
		Dict[str, Any]	component_config = None,
		Any	client = None )

Create a robot driver for PyBullet.

Parameters

component_name	Name of the robot component.
component_config	Configuration dictionary for the robot.
client	Bullet client instance.

Returns

None

Member Function Documentation

check_torque_status()

bool pybullet_robot_driver.BulletRobotDriver.check_torque_status

(

self

)

get infos ##

Return True as simulated robots are always torqued.

Returns

Always True in simulation. @rtype bool

Reimplemented from ark.system.driver.robot_driver.RobotDriver.

load_robot()

None pybullet_robot_driver.BulletRobotDriver.load_robot	(		self,
			base_position = None,
			base_orientation = None,
			q_init = None )

Load the robot model into the simulator.

Parameters

base_position	Optional base position [x, y, z].
base_orientation	Optional base orientation as quaternion.
q_init	Optional list of initial joint positions.

pass_joint_efforts()

Dict[str, float] pybullet_robot_driver.BulletRobotDriver.pass_joint_efforts	(		self,
		List[str]	joints )

Return the current joint efforts.

Parameters

joints

List of joint names.

Returns

Dictionary from joint name to effort. @rtype Dict[str, float]

Reimplemented from ark.system.driver.robot_driver.RobotDriver.

pass_joint_group_control_cmd()

None pybullet_robot_driver.BulletRobotDriver.pass_joint_group_control_cmd	(		self,
		str	control_mode,
		Dict[str, float]	cmd,
		**	kwargs )

control ##

Send a control command to a group of joints.

Parameters

control_mode	One of position, velocity or torque.
cmd	Mapping from joint names to command values.
kwargs	Additional keyword arguments forwarded to PyBullet.

Returns

None

Reimplemented from ark.system.driver.robot_driver.RobotDriver.

pass_joint_positions()

Dict[str, float] pybullet_robot_driver.BulletRobotDriver.pass_joint_positions	(		self,
		List[str]	joints )

Return the current joint positions.

Parameters

joints

List of joint names.

Returns

Dictionary from joint name to position. @rtype Dict[str, float]

Reimplemented from ark.system.driver.robot_driver.RobotDriver.

pass_joint_velocities()

Dict[str, float] pybullet_robot_driver.BulletRobotDriver.pass_joint_velocities	(		self,
		List[str]	joints )

Return the current joint velocities.

Parameters

joints

List of joint names.

Returns

Dictionary from joint name to velocity. @rtype Dict[str, float]

Reimplemented from ark.system.driver.robot_driver.RobotDriver.

sim_reset()

None pybullet_robot_driver.BulletRobotDriver.sim_reset	(		self,
		List[float]	base_pos,
		List[float]	base_orn,
		List[float]	q_init )

misc.

##

Reset the robot in the simulator.

Parameters

base_pos	New base position.
base_orn	New base orientation quaternion.
q_init	List of joint positions after the reset.

Reimplemented from ark.system.driver.robot_driver.SimRobotDriver.

Member Data Documentation

actuated_joints

dict pybullet_robot_driver.BulletRobotDriver.actuated_joints = {}

base_orientation

pybullet_robot_driver.BulletRobotDriver.base_orientation = self.config.get("base_orientation", [0.0, 0.0, 0.0, 1.0])

base_position

pybullet_robot_driver.BulletRobotDriver.base_position = self.config.get("base_position", [0.0, 0.0, 0.0])

bullet_joint_infos

dict pybullet_robot_driver.BulletRobotDriver.bullet_joint_infos = {}

client

pybullet_robot_driver.BulletRobotDriver.client = client

initial_configuration

pybullet_robot_driver.BulletRobotDriver.initial_configuration = self.config.get("initial_configuration", [0.0] * self.client.getNumJoints(self.ref_body_id))

joints

dict pybullet_robot_driver.BulletRobotDriver.joints = {}

num_joints

pybullet_robot_driver.BulletRobotDriver.num_joints = self.client.getNumJoints(self.ref_body_id)

ref_body_id

pybullet_robot_driver.BulletRobotDriver.ref_body_id

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The documentation for this class was generated from the following file:

• ark/system/pybullet/pybullet_robot_driver.py