storm_kit.gym.sim_robot module

class RobotSim(device='cpu', gym_instance=None, sim_instance=None, asset_root='', sim_urdf='', asset_options='', init_state=None, collision_model=None, **kwargs)[source]

Bases: object

command_robot(tau, env_handle, robot_handle)[source]
command_robot_position(q_des, env_handle, robot_handle)[source]
get_state(env_handle, robot_handle)[source]
init_collision_model(robot_collision_params, env_ptr, robot_handle)[source]
init_sim(gym_instance, sim_instance)[source]
load_robot_asset(sim_urdf, asset_options, asset_root)[source]
observe_camera(env_ptr)[source]
set_robot_state(q_des, qd_des, env_handle, robot_handle)[source]
spawn_camera(env_ptr, fov, width, height, robot_camera_pose)[source]

Spawn a camera in the environment Args: env_ptr: environment pointer fov, width, height: camera params robot_camera_pose: Camera pose w.r.t robot_body_handle [x, y, z, qx, qy, qz, qw]

spawn_robot(env_handle, robot_pose, robot_asset=None, coll_id=- 1, init_state=None)[source]
update_collision_model(link_poses, env_ptr, robot_handle)[source]
inv_transform(gym_transform)[source]
pose_from_gym(gym_pose)[source]