robopal.envs.robot module

class robopal.envs.robot.RobotEnv(robot=None, control_freq=200, enable_camera_viewer=False, controller='JNTIMP', is_interpolate=False, camera_name=None, render_mode='human')

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.

• enable_camera_viewer -- Use camera or not.

auto_render()

Automatically render the scene.

property dt

Time of each upper step in the environment.

reset(*args, **kwargs)

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

set_gripper_ctrl(actuator_name: str, actuator_value: int, agent: str = 'arm0')

Gripper control.

参数:

• actuator_name -- Gripper actuator name.

• actuator_value -- Gripper actuator value.

step(*args, **kwargs)

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