concepts.simulator.pybullet.components.multi_robot_controller.MultiRobotController

class MultiRobotController

Bases: BulletComponent

Methods

disable_recoding()
do(robot_index, action_name, **kwargs)
do_synchronized_qpos_trajectories(trajectories)
enable_recording()
get_concat_qpos()
make_sync_context()
replay(commands)
stable_reset([nr_steps])

Attributes

ACTION_NAME_MAPPING
p
w
world

__init__(robots)

Parameters:

robots (Sequence[BulletArmRobotBase])

__new__(**kwargs)

disable_recoding()

do(robot_index, action_name, **kwargs)

Parameters:

• robot_index (int)

• action_name (str)

Return type:

_ControlCommand

do_synchronized_qpos_trajectories(trajectories, step_size=1, gains=0.3, atol=0.03, timeout=20, verbose=False)

Parameters:

• trajectories (Sequence[Sequence[ndarray]])

• step_size (float)

• gains (float)

• atol (float)

• timeout (float)

• verbose (bool)

enable_recording()

get_concat_qpos()

make_sync_context()

replay(commands)

stable_reset(nr_steps=10)

ACTION_NAME_MAPPING = {'close_gripper_free': 'close_gripper_free_set_control', 'grasp': 'grasp_set_control', 'move_cartesian_trajectory': 'move_cartesian_trajectory_set_control', 'move_qpos': 'move_qpos_set_control', 'move_qpos_path_v2': 'move_qpos_path_v2_set_control', 'open_gripper_free': 'open_gripper_free_set_control'}

property p

property w

property world