Robot state (configuration and velocity) with optional randomization. More...

Public Member Functions
def	__init__ (self, Optional[np.ndarray] angular_velocity_base_in_base=None, Optional[np.ndarray] joint_configuration=None, Optional[np.ndarray] joint_velocity=None, Optional[np.ndarray] linear_velocity_base_to_world_in_world=None, Optional[ScipyRotation] orientation_base_in_world=None, Optional[np.ndarray] position_base_in_world=None, Optional[RobotStateRandomization] randomization=None)
	Initialize a new state. More...

np.ndarray	sample_angular_velocity (self, np.random.Generator np_random)
	Sample an angular velocity around the one in this state. More...

np.ndarray	sample_linear_velocity (self, np.random.Generator np_random)
	Sample a linear velocity around the one in this state. More...

ScipyRotation	sample_orientation (self, np.random.Generator np_random)
	Sample an orientation around the one in this state. More...

np.ndarray	sample_position (self, np.random.Generator np_random)
	Sample a position around the one in this state. More...

"RobotState"	sample_state (self, np.random.Generator np_random)
	Sample a randomized robot state around this state. More...

Public Attributes
	angular_velocity_base_in_base
	Angular velocity of the base in body coordinates, in rad/s.

	joint_configuration
	Vector of joint angles in radians.

	joint_velocity
	Vector of joint velocities, in rad/s.

	linear_velocity_base_to_world_in_world
	Linear velocity of the base in world coordinates, in m/s.

	orientation_base_in_world
	Orientation of the base frame with respect to the world frame.

	position_base_in_world
	Position of the base frame in the world frame.

	randomization
	Displacements and velocities added to the state when calling one of the sampling functions.

Detailed Description

Robot state (configuration and velocity) with optional randomization.

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

Public Member Functions