_simulation_state_impl

Module Contents

Classes

SimulationStateImpl

Implementation of the simulation state interface for MuJoCo.
class SimulationStateImpl(data: mujoco.MjData, abstraction_to_mujoco_mapping: mujoco_simulator._abstraction_to_mujoco_mapping.AbstractionToMujocoMapping, camera_views: dict[int, numpy.typing.NDArray[numpy.uint8]])

Bases: revolve2.simulation.scene.SimulationState

Inheritance diagram of mujoco_simulator._simulation_state_impl.SimulationStateImpl

Implementation of the simulation state interface for MuJoCo.

abstract get_rigid_body_relative_pose(rigid_body: revolve2.simulation.scene.RigidBody) → revolve2.simulation.scene.Pose

Get the pose of a rigid body, relative to its parent multi-body system’s reference frame.

Parameters:

rigid_body – The rigid body to get the pose for.

Returns:

The relative pose.

Raises:

NotImplementedError – Always.

abstract get_rigid_body_absolute_pose(rigid_body: revolve2.simulation.scene.RigidBody) → revolve2.simulation.scene.Pose

Get the pose of a rigid body, relative the global reference frame.

Parameters:

rigid_body – The rigid body to get the pose for.

Returns:

The absolute pose.

Raises:

NotImplementedError – Always.

get_multi_body_system_pose(multi_body_system: revolve2.simulation.scene.MultiBodySystem) → revolve2.simulation.scene.Pose

Get the pose of a multi-body system, relative to the global reference frame.

Parameters:

multi_body_system – The multi-body system to get the pose for.

Returns:

The relative pose.

get_hinge_joint_position(joint: revolve2.simulation.scene.JointHinge) → float

Get the rotational position of a hinge joint.

Parameters:

joint – The joint to get the rotational position for.

Returns:

The rotational position.

get_imu_specific_force(imu_sensor: revolve2.simulation.scene.sensors.IMUSensor) → pyrr.Vector3

Get the specific force measured an IMU.

Parameters:

imu_sensor – The IMU.

Returns:

The specific force.

get_imu_angular_rate(imu_sensor: revolve2.simulation.scene.sensors.IMUSensor) → pyrr.Vector3

Get the angular rate measured by am IMU.

Parameters:

imu_sensor – The IMU.

Returns:

The angular rate.

get_camera_view(camera_sensor: revolve2.simulation.scene.sensors.CameraSensor) → numpy.typing.NDArray[numpy.uint8]

Get the current view of the camera.

Parameters:

camera_sensor – The camera.

Returns:

The image (RGB).