_modular_robot_simulation_state

Module Contents

Classes

ModularRobotSimulationState

The state of a modular robot at some moment in a simulation.

class ModularRobotSimulationState(simulation_state: revolve2.simulation.scene.SimulationState, multi_body_system: revolve2.simulation.scene.MultiBodySystem)

The state of a modular robot at some moment in a simulation.

get_pose() → revolve2.simulation.scene.Pose

Get the pose of the modular robot.

Returns:

The retrieved pose.

abstract get_module_relative_pose(module: revolve2.modular_robot.body.Module) → revolve2.simulation.scene.Pose

Get the pose of a module, relative to its parent module’s reference frame.

In case there is no parent(the core), this is equal to getting the absolute pose.

Parameters:

module – The module to get the pose for.

Returns:

The relative pose.

Raises:

NotImplementedError – Always.

abstract get_module_absolute_pose(module: revolve2.modular_robot.body.Module) → revolve2.simulation.scene.Pose

Get the pose of this module, relative the global reference frame.

Parameters:

module – The module to get the pose for.

Returns:

The absolute pose.

Raises:

NotImplementedError – Always.