Backend using PyBullet physics simulation. More...

Public Member Functions
None	__init__ (self, float dt, Optional[dict] bullet_config=None, bool gui=True, Optional[int] nb_substeps=None)
	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. More...

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...

Detailed Description

Backend using PyBullet physics simulation.

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

Public Member Functions