Backend using PyBullet physics simulation. More...

Public Member Functions
None	__init__ (self, float dt, bool gui=True, float inertia_variation=0.0, Optional[Dict[str, JointProperties]] joint_properties=None, str js_path="/dev/input/js0", Optional[Model] model=None, Optional[int] nb_substeps=None, float torque_control_kd=1.0, float torque_control_kp=20.0)
	Initialize PyBullet backend. More...

def	__del__ (self)
	Disconnect PyBullet when deleting the backend instance.

int	robot_id (self)
	Identifier of the robot body in the PyBullet simulation.

None	close (self)
	Disconnect PyBullet properly.

dict	reset (self, RobotState init_state)
	Reset the PyBullet simulation and get an initial observation. More...

dict	step (self, dict action)
	Apply action and step the PyBullet simulation. More...

dict	get_spine_observation (self)
	Get observation in spine format from PyBullet simulation. More...

float	compute_joint_torque (self, str joint_name, float feedforward_torque, float target_position, float target_velocity, float kp_scale, float kd_scale, float maximum_torque)
	Reproduce the moteus position controller in PyBullet. More...

None	randomize_inertias (self, float inertia_variation)
	Randomize the inertias of all robot links. More...

None	set_external_forces (self, Dict[str, ExternalForce] external_forces)
	Set external forces to apply to robot links at next step. More...

List[PointContact]	get_contact_points (self, Optional[str] link_name=None)
	Get contact points from PyBullet simulation. More...

Public Attributes
	inertia_variation
	Relative variation applied to link masses and inertias for domain randomization. More...

	torque_control_kd
	Derivative gain for torque control.

	torque_control_kp
	Proportional gain for torque control.

	joystick
	Joystick interface for writing observations, or None if no joystick device was found.

Detailed Description

Backend using PyBullet physics simulation.

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

Public Member Functions