robopal.envs.robot module

class robopal.envs.robot.RobotEnv(robot, *, controller='JNTIMP', control_freq=200, is_interpolate=False, render_mode='human', is_show_camera_in_cv=False, is_render_camera_offscreen=False, camera_in_render='frontview', camera_in_window='free')

基类：MujocoEnv

Robot environment.

参数:

• robot -- Robot configuration.

• render_mode -- Choose the render mode.

• controller -- Choose the controller.

• control_freq -- Upper-layer control frequency. i.g. frame per second-fps Note that high frequency will cause high time-lag.

• is_interpolate -- Use interpolator while stepping.

• is_show_camera_in_cv -- Use camera or not.

auto_render()

Automatically render the scene.

property dt

Time of each upper step in the environment.

get_configs(key: str = None)

Get global configs of the current enviroment.

get_end_abs_pos(agent)

get_end_abs_quat(agent)

reset(*args, **kwargs)

Reset the simulate environment, in order to execute next episode.

step(*args, **kwargs)

This method will be called with one-step in mujoco :param action: Input action :return: None

update_init_pose_to_current()