Source code for robotblockset.mujoco.platforms_pymujoco
"""PyMuJoCo Platforms Module.
This module provides platform implementations for the Python MuJoCo simulator,
mirroring the platform interface in `robotblockset.platforms`.
Copyright (c) 2025 Jozef Stefan Institute
Authors: Leon Zlajpah.
"""
import numpy as np
from time import sleep
from typing import Any, Optional, Sequence, Union
try:
import mujoco
except Exception as e:
raise e from RuntimeError("MuJoCo not installed. \nYou can install MuJoCo through pip:\n pip install mujoco")
from robotblockset.mujoco.scene_pymujoco import mujoco_scene
from robotblockset.mujoco.tools_pymujoco import get_joints_under_body, get_actuators_for_joints
from robotblockset.tools import isvector, vector
from robotblockset.transformations import map_pose, r2q, checkx, x2t, v2s, q2r
from robotblockset.platform_spec import tiagobase_spec, mir100_spec
from robotblockset.platforms import platform, MotionResultCodes
from robotblockset.rbs_typing import ArrayLike, HomogeneousMatrixType, JointConfigurationType, JointVelocityType, Pose3DType, QuaternionType, RotationMatrixType, Vector3DType
ObjectIdType = Union[str, int]
PoseInputType = Union[Pose3DType, HomogeneousMatrixType, RotationMatrixType, Vector3DType, QuaternionType, ArrayLike]
PoseOutputType = Union[Pose3DType, HomogeneousMatrixType, Vector3DType, RotationMatrixType]
[docs]
class platform_pymujoco(platform):
"""PyMuJoCo-backed mobile platform interface operating on a :class:`~robotblockset.mujoco.scene_pymujoco.mujoco_scene`."""
[docs]
def __init__(self, platform_name: str, scene: Optional[mujoco_scene] = None, **kwargs: Any) -> None:
"""
Initialize a PyMuJoCo platform interface.
Parameters
----------
platform_name : str
Base name of the platform model in MuJoCo.
scene : :class:`~robotblockset.mujoco.scene_pymujoco.mujoco_scene`, optional
MuJoCo scene instance to control. Must be provided.
**kwargs : Any
Additional keyword arguments.
Notes
-----
When constrructing objects of this class, the following keyword arguments are supported for explicit configuration of model element names. If not provided, default names based on the platform name are used.:
`JointNames` : list[str], optional
Explicit list of platform joint names.
`ActuatorNames` : list[str], optional
Explicit list of actuator names used for velocity commands.
`RobotBaseName` : str, optional
Name of the robot base body used as the platform reference frame.
`SensorJointPosNames` : list[str], optional
Sensor names used to read joint positions.
`SensorJointVelNames` : list[str], optional
Sensor names used to read joint velocities.
`SensorPosName` : str, optional
Sensor name used to read the platform position.
`SensorOriName` : str, optional
Sensor name used to read the platform orientation.
`SensorLinVelName` : str, optional
Sensor name used to read the platform linear velocity.
`SensorRotVelName` : str, optional
Sensor name used to read the platform angular velocity.
`SensorForceName` : str, optional
Sensor name used to read force measurements.
`SensorTorqueName` : str, optional
Sensor name used to read torque measurements.
Raises
------
Exception
If joint or actuator names do not resolve uniquely in the MJCF model.
"""
platform.__init__(self, **kwargs)
if scene is None:
raise ValueError("MuJoCo scene is not defined")
self.scene = scene
self._connected = True
self.Name = platform_name + "_PyMuJoCo"
self.Message("Platform connected to MuJoCo", 1)
self.BaseName = platform_name
self._control_strategy = "CartesianVelocity"
kwargs.setdefault("JointNames", None)
if isinstance(kwargs["JointNames"], str):
if kwargs["JointNames"].lower() == "auto":
_joint_names, _joint_ids = get_joints_under_body(self.scene.model, self.BaseName)
self.JointNames = _joint_names[: self.nj]
_joint_ids = _joint_ids[: self.nj]
elif kwargs["JointNames"].lower() == "ori":
if hasattr(self, "joint_names"):
self.JointNames = self.joint_names
else:
raise ValueError("Robot specification does not define joint names.")
else:
raise ValueError(f"Argument 'JointNames':{kwargs['JointNames']} is invalid. Only `auto` or `ori` are accepted.")
elif kwargs["JointNames"] is None:
if hasattr(self, "joint_names") and self.scene.model.joint(0).name == self.BaseName + "_" + self.joint_names[0]:
self.JointNames = [self.BaseName + "_" + jnt for jnt in self.joint_names]
else:
self.JointNames = []
for i in range(self.nj):
self.JointNames.append(self.BaseName + "_joint" + str(i + 1))
else:
self.JointNames = kwargs["JointNames"]
kwargs.setdefault("ActuatorNames", None)
if isinstance(kwargs["ActuatorNames"], str):
if kwargs["ActuatorNames"].lower() == "auto":
_joint_names, _joint_ids = get_joints_under_body(self.scene.model, self.BaseName)
_joint_ids = _joint_ids[: self.nj]
self.ActuatorNames, _ = get_actuators_for_joints(self.scene.model, joints=_joint_ids)
elif kwargs["ActuatorNames"].lower() == "ori":
if hasattr(self, "actuator_names"):
self.ActuatorNames = self.actuator_names
else:
raise ValueError("Robot specification does not define actuator names.")
else:
raise ValueError(f"Argument 'ActuatorNames':{kwargs['ActuatorNames']} is invalid. Only `auto` or `ori`ΒΈ are accepted.")
elif kwargs["ActuatorNames"] is None:
if hasattr(self, "actuator_names"):
self.ActuatorNames = [self.BaseName + "_" + act for act in self.actuator_names]
else:
self.ActuatorNames = []
for i in range(self.nj):
self.ActuatorNames.append(self.BaseName + "_actuator" + str(i + 1))
else:
self.ActuatorNames = kwargs["ActuatorNames"]
kwargs.setdefault("RobotBaseName", None)
if kwargs["RobotBaseName"]:
self.RobotBaseName = kwargs["RobotBaseName"]
else:
self.RobotBaseName = None
kwargs.setdefault("SensorJointPosNames", None)
if kwargs["SensorJointPosNames"]:
self.SensorJointPosNames = kwargs["SensorJointPosNames"]
else:
self.SensorJointPosNames = []
for i in range(self.nj):
self.SensorJointPosNames.append(self.BaseName + "_pos_joint" + str(i + 1))
kwargs.setdefault("SensorJointVelNames", None)
if kwargs["SensorJointVelNames"]:
self.SensorJointVelNames = kwargs["SensorJointVelNames"]
else:
self.SensorJointVelNames = []
for i in range(self.nj):
self.SensorJointVelNames.append(self.BaseName + "_vel_joint" + str(i + 1))
kwargs.setdefault("SensorPosName", None)
if kwargs["SensorPosName"]:
self.SensorPosName = kwargs["SensorPosName"]
else:
self.SensorPosName = self.BaseName + "_pos"
kwargs.setdefault("SensorOriName", None)
if kwargs["SensorOriName"]:
self.SensorOriName = kwargs["SensorOriName"]
else:
self.SensorOriName = self.BaseName + "_ori"
kwargs.setdefault("SensorLinVelName", None)
if kwargs["SensorLinVelName"]:
self.SensorLinVelName = kwargs["SensorLinVelName"]
else:
self.SensorLinVelName = self.BaseName + "_v"
kwargs.setdefault("SensorRotVelName", None)
if kwargs["SensorRotVelName"]:
self.SensorRotVelName = kwargs["SensorRotVelName"]
else:
self.SensorRotVelName = self.BaseName + "_w"
kwargs.setdefault("SensorForceName", None)
if kwargs["SensorForceName"]:
self.SensorForceName = kwargs["SensorForceName"]
else:
self.SensorForceName = self.BaseName + "_force"
kwargs.setdefault("SensorTorqueName", None)
if kwargs["SensorTorqueName"]:
self.SensorTorqueName = kwargs["SensorTorqueName"]
else:
self.SensorTorqueName = self.BaseName + "_torque"
self.MocapHandles = [None] * self.scene.model.nmocap
if self.scene.model.nu > 0:
self._ctrl = self.scene.data.ctrl.copy()
self.tsamp = 0.01 # sampling rate
self.Init()
[docs]
def Init(self) -> None:
"""
Initialize MuJoCo handles and cached sensor indices.
Returns
-------
None
"""
self._BodyNamesList = [self.scene.model.body(i).name for i in range(self.scene.model.nbody)]
self._SiteNamesList = [self.scene.model.site(i).name for i in range(self.scene.model.nsite)]
self._SensorNamesList = [self.scene.model.sensor(i).name for i in range(self.scene.model.nsensor)]
self._BaseHandle = self.scene.model.body(self.BaseName).id
if self.RobotBaseName is not None and self.RobotBaseName in self._BodyNamesList:
_p1 = self.scene.data.body(self.BaseName).xpos
_R1 = self.scene.data.body(self.BaseName).xmat.reshape(3, 3)
_p2 = self.scene.data.body(self.RobotBaseName).xpos
_R2 = self.scene.data.body(self.RobotBaseName).xmat.reshape(3, 3)
self.TRobotBase = map_pose(R=_R1.T @ _R2, p=_R1.T @ (_p2 - _p1), out="T")
self._JointNamesList = [self.scene.model.joint(i).name for i in range(self.scene.model.njnt)]
self._ActuatorNamesList = [self.scene.model.actuator(i).name for i in range(self.scene.model.nu)]
self._JointPosHandles = np.array(
[self.scene.model.jnt_qposadr[self.scene.model.joint(self.JointNames[i]).id] if self.JointNames[i] in self._JointNamesList else -1 for i in range(self.nj)],
dtype=np.int32,
)
self._JointVelHandles = np.array(
[self.scene.model.jnt_dofadr[self.scene.model.joint(self.JointNames[i]).id] if self.JointNames[i] in self._JointNamesList else -1 for i in range(self.nj)],
dtype=np.int32,
)
self._ActuatorHandles = np.array([self.scene.model.actuator(self.ActuatorNames[i]).id if self.ActuatorNames[i] in self._ActuatorNamesList else -1 for i in range(self.nj)], dtype=np.int32)
if np.any(self._JointPosHandles == -1) or np.unique(self._JointPosHandles).size != self._JointPosHandles.size:
raise Exception("Check naming of joints in MJCF model")
if np.any(self._ActuatorHandles == -1) or np.unique(self._ActuatorHandles).size != self._ActuatorHandles.size:
raise Exception("Check naming of actuators in MJCF model")
self._SensorJointPosHandles = -np.ones(self.nj, dtype=np.int32)
for i in range(self.nj):
if self.SensorJointPosNames[i] in self._SensorNamesList:
idx = self.scene.model.sensor(self.SensorJointPosNames[i]).id
adr = self.scene.model.sensor_adr[idx]
dim = self.scene.model.sensor_dim[idx]
if dim != 1:
raise Exception("Wrong joint sensor in model")
self._SensorJointPosHandles[i] = adr
else:
self._SensorJointPosHandles = -np.ones(self.nj, dtype=np.int32)
break
self._SensorJointVelHandles = -np.ones(self.nj, dtype=np.int32)
for i in range(self.nj):
if self.SensorJointVelNames[i] in self._SensorNamesList:
idx = self.scene.model.sensor(self.SensorJointVelNames[i]).id
adr = self.scene.model.sensor_adr[idx]
dim = self.scene.model.sensor_dim[idx]
if dim != 1:
raise Exception("Wrong joint sensor in model")
self._SensorJointVelHandles[i] = adr
else:
self._SensorJointVelHandles = -np.ones(self.nj, dtype=np.int32)
break
if self.SensorPosName in self._SensorNamesList:
idx = self.scene.model.sensor(self.SensorPosName).id
adr = self.scene.model.sensor_adr[idx]
dim = self.scene.model.sensor_dim[idx]
self._SensorPosHandles = list(range(adr, adr + dim))
else:
self._SensorPosHandles = None
if self.SensorOriName in self._SensorNamesList:
idx = self.scene.model.sensor(self.SensorOriName).id
adr = self.scene.model.sensor_adr[idx]
dim = self.scene.model.sensor_dim[idx]
self._SensorOriHandles = list(range(adr, adr + dim))
else:
self._SensorOriHandles = None
if self.SensorLinVelName in self._SensorNamesList:
idx = self.scene.model.sensor(self.SensorLinVelName).id
adr = self.scene.model.sensor_adr[idx]
dim = self.scene.model.sensor_dim[idx]
self._SensorLinVelHandles = list(range(adr, adr + dim))
else:
self._SensorLinVelHandles = None
if self.SensorRotVelName in self._SensorNamesList:
idx = self.scene.model.sensor(self.SensorRotVelName).id
adr = self.scene.model.sensor_adr[idx]
dim = self.scene.model.sensor_dim[idx]
self._SensorRotVelHandles = list(range(adr, adr + dim))
else:
self._SensorRotVelHandles = None
if self.SensorForceName in self._SensorNamesList:
idx = self.scene.model.sensor(self.SensorForceName).id
adr = self.scene.model.sensor_adr[idx]
dim = self.scene.model.sensor_dim[idx]
self._SensorForceHandles = list(range(adr, adr + dim))
else:
self._SensorForceHandles = None
if self.SensorTorqueName in self._SensorNamesList:
idx = self.scene.model.sensor(self.SensorTorqueName).id
adr = self.scene.model.sensor_adr[idx]
dim = self.scene.model.sensor_dim[idx]
self._SensorTorqueHandles = list(range(adr, adr + dim))
else:
self._SensorTorqueHandles = None
self.MocapHandles = np.where(self.scene.model.body_mocapid >= 0)[0]
self.MocapNames = [self.scene.model.body(i).name for i in range(self.scene.model.nbody) if self.scene.model.body_mocapid[i] >= 0]
self.InitObject()
self.GetState()
self.ResetCurrentTarget()
self.ResetTime()
self.Message("Initialized", 2)
[docs]
def simtime(self) -> float:
"""
Return the current simulation time from the MuJoCo simulator.
Returns
-------
float
The current simulation time in seconds since an arbitrary point (see ResetTime).
"""
return self.scene.data.time # perf_counter()
def _sleep(self, time: float) -> None:
"""
Pause execution for the given duration.
Parameters
----------
time : float
Requested pause duration in seconds.
Returns
-------
None
Notes
-----
This method uses MuJoCo simulation time rather than wall-clock time.
"""
t0 = self.simtime()
while self.simtime() - t0 < time:
sleep(0.001)
[docs]
def GetState(self) -> None:
"""
Update platform state from MuJoCo data buffers.
Returns
-------
None
"""
sensors = self.scene.data.sensordata.copy()
self._robottime = self.scene.data.time
if all(self._SensorJointPosHandles >= 0):
self._actual.q = np.take(sensors, self._SensorJointPosHandles)
else:
self._actual.q = np.take(self.scene.data.qpos.copy(), self._JointPosHandles)
if all(self._SensorJointVelHandles >= 0):
self._actual.qdot = np.take(sensors, self._SensorJointVelHandles)
else:
self._actual.qdot = np.take(self.scene.data.qvel.copy(), self._JointVelHandles)
if (self._SensorPosHandles is not None) and (self._SensorOriHandles is not None):
self._actual.x = checkx(np.take(sensors, self._SensorPosHandles + self._SensorOriHandles))
if (self._SensorLinVelHandles is not None) and (self._SensorRotVelHandles is not None):
self._actual.v = np.take(sensors, self._SensorLinVelHandles + self._SensorRotVelHandles)
if (self._SensorForceHandles is not None) and (self._SensorTorqueHandles is not None):
self._actual.FT = np.take(sensors, self._SensorForceHandles + self._SensorTorqueHandles)
else:
self._actual.FT = np.zeros(6)
self._actual.trq = np.zeros(self.nj)
self._actual.trq = np.zeros(self.nj)
self._actual.trqExt = np.zeros(self.nj)
if self.Robot is not None:
_tmp = x2t(self._actual.x) @ self.TRobotBase
self.Robot.SetBasePose(_tmp)
RR = np.eye(6)
RR[:3, 3:] = v2s(q2r(self._actual.x[3:]) @ self.TRobotBase[:3, 3]).T
self.Robot.SetBaseVel(RR @ self.actual.v)
self._tt = self.simtime()
self._last_update = self.simtime()
[docs]
def isReady(self) -> bool:
"""
Check if the platform is connected.
Returns
-------
bool
True if the simulator connection is active.
"""
return self._connected
[docs]
def isActive(self) -> bool:
"""
Check if the simulator is connected.
Returns
-------
bool
True if the simulation is connected.
"""
s1 = self.scene.time
sleep(0.1)
s2 = self.scene.time
return s2 > s1
[docs]
def Restart(self, qpos: Optional[ArrayLike] = None, u: Optional[JointVelocityType] = None, reset: bool = True, keyframe: Optional[int] = None) -> None:
"""
Reset the simulation and optionally set joint positions/inputs.
Parameters
----------
qpos : ArrayLike, optional
Joint positions for the platform.
u : JointVelocityType, optional
Joint velocity command applied after the reset.
reset : bool, optional
If True, reset the simulation state.
keyframe : int, optional
Optional keyframe index for reset.
"""
if reset:
self.scene.mj_pause()
self.scene.mj_reset(keyframe)
mujoco.mj_forward(self.scene.model, self.scene.data)
self.scene.mj_run()
if qpos is not None:
if isvector(qpos, dim=self.scene.model.nq):
self.scene.data.qpos = qpos
if u is not None:
if isvector(u, dim=self.nj):
self.scene.data.qpos[self._JointPosHandles] = u
self.SendRobot_u(u)
self.scene.data.qvel = np.zeros(self.scene.model.nv)
self.ResetCurrentTarget()
self.ResetTime()
[docs]
def Stop(self) -> None:
"""
Stop platform motion and clear velocity commands.
Returns
-------
None
"""
self.GetState()
self.scene.data.qvel = np.zeros(self.scene.model.nv)
self._command.ux = np.zeros(2)
self.SendRobot_u(np.zeros(self.nj))
platform.Stop(self)
[docs]
def Set_vel(self, v: ArrayLike, wait: Optional[float] = None) -> int:
"""
Update platform velocities (forward, turn) and wait.
Parameters
----------
v : ArrayLike
Desired planar velocity ``[vx, wz]``.
wait : float, optional
Time to wait (in seconds) to synchronize the command to move. If omitted, ``self.tsamp`` is used.
Returns
-------
int
Status of the move (0 for success, non-zero for error).
"""
if wait is None:
wait = self.tsamp
self._synchro_control(wait)
v = vector(v, dim=2)
_fac = max(max(v / self.v_max), max(v / self.v_min), 1)
v = v / _fac
u = self.pJs @ v
_fac = max(max(np.abs(u) / self.qdot_max), 1)
u = u / _fac
v = v / _fac
self._command.ux = v
self.SendRobot_u(u)
self.Update()
return MotionResultCodes.MOTION_SUCCESS.value
[docs]
def SendRobot_u(self, u: JointVelocityType) -> None:
"""
Send joint commands to platform actuators.
Parameters
----------
u : JointVelocityType
Actuator command vector.
"""
self._command.u = u
if self.isReady:
self._ctrl = self.scene.data.ctrl.copy()
for i, x in zip(self._ActuatorHandles, u):
self._ctrl[i] = x
self.scene.data.ctrl = self._ctrl
[docs]
def SendCtrl(self, u: ArrayLike) -> None:
"""
Send a full control vector to the MuJoCo platform.
Parameters
----------
u : ArrayLike
Full actuator control vector for the MuJoCo scene.
"""
self._command.u = np.take(u, self._ActuatorHandles)
if self.isReady:
self._ctrl = u
self.scene.data.ctrl = self._ctrl
[docs]
def SendAuxCtrl(self, idx: Sequence[int], val: ArrayLike) -> None:
"""
Update selected actuator controls by index.
Parameters
----------
idx : Sequence[int]
Actuator indices to update.
val : ArrayLike
Control values written to the selected actuators.
Returns
-------
None
"""
if self.scene.model.nu > 0:
self._ctrl = self.scene.data.ctrl.copy()
for i, x in zip(idx, val):
self._ctrl[i] = x
self.scene.data.ctrl = self._ctrl
[docs]
def GetAuxJointPos(self, ide: Sequence[int]) -> JointConfigurationType:
"""
Return joint positions for auxiliary joints by index.
Parameters
----------
ide : Sequence[int]
Joint indices in ``self.data.qpos``.
Returns
-------
JointConfigurationType
Joint positions for the requested indices.
"""
return np.take(self.data.qpos, ide)
[docs]
def GetSensor(self, *ide: ObjectIdType) -> np.ndarray:
"""
Read sensor data by name/id or return the full sensor array.
Parameters
----------
*ide : str or int
Optional sensor identifier. When omitted, all sensor samples are returned.
Returns
-------
np.ndarray
Sensor data slice or full sensor data if no id is provided.
"""
if len(ide) > 0:
return self.scene.data.sensor(ide).data
else:
return self.scene.data.sensordata
[docs]
def GetContacts(self, *ide: ObjectIdType) -> Optional[np.ndarray]:
"""
Return contact forces for a geom or for all contacts.
Parameters
----------
*ide : str or int
Optional geom identifier. When omitted, all contacts are reported.
Returns
-------
np.ndarray or None
Contact force array of shape (N,3), or None if no contacts.
"""
contacts = self.scene.data.contact
ncon = len(contacts)
if ncon > 0:
if len(ide) > 0:
if isinstance(ide, str):
idx = self.scene.geom(ide).id
else:
idx = ide
ii = list(set(np.where(contacts.geom1 == idx)[0]) | set(np.where(contacts.geom2 == idx)[0]))
else:
ii = list(range(ncon))
Fx = np.empty((len(ii), 3))
forcetorque = np.zeros(6)
for i, ix in enumerate(ii):
mujoco.mj_contactForce(self.scene.model, self.scene.data, ix, forcetorque)
R = contacts.frame[i].reshape(3, 3)
F = forcetorque[:3]
Fx[i, :] = np.squeeze(R @ F)
return Fx
else:
return None
[docs]
def SetMocapPose(self, ide: ObjectIdType, x: PoseInputType) -> None:
"""
Set the pose of a mocap body.
Parameters
----------
ide : ObjectIdType
Mocap body name or index.
x : PoseInputType
Pose represented as position, quaternion, pose vector, rotation matrix,
or homogeneous transform.
Raises
------
ValueError
If ``x`` has an unsupported shape.
Notes
-----
When mocap body names are used, mocap bodies must be the first bodies in the model.
"""
if self.scene.model.nmocap > 0:
mocap_pos = self.scene.data.mocap_pos.copy()
mocap_quat = self.scene.data.mocap_quat.copy()
if isinstance(ide, str):
idx = self.MocapNames.index(ide)
else:
idx = ide
x = self.spatial(x)
if x.shape == (4, 4):
xx = map_pose(T=x)
mocap_pos[idx, :] = xx[:3]
mocap_quat[idx, :] = xx[3:]
elif x.shape == (3, 3):
xx = r2q(x)
mocap_quat[idx, :] = xx
elif isvector(x, dim=7):
mocap_pos[idx, :] = x[:3]
mocap_quat[idx, :] = x[3:]
elif isvector(x, dim=3):
mocap_pos[idx, :] = x
elif isvector(x, dim=4):
mocap_quat[idx, :] = x
else:
raise ValueError(f"Parameter shape {x.shape} not supported")
self.scene.data.mocap_pos = mocap_pos
self.scene.data.mocap_quat = mocap_quat
[docs]
def GetMocapPose(self, ide: ObjectIdType, out: str = "x") -> Optional[PoseOutputType]:
"""
Return mocap body pose in the requested output format.
Parameters
----------
ide : ObjectIdType
Mocap body name or id.
out : str, optional
Output pose format understood by :func:`robotblockset.transformations.map_pose`.
Returns
-------
PoseOutputType or None
Mocap pose in the requested representation, or ``None`` if unavailable.
"""
if self.scene.model.nmocap > 0:
if isinstance(ide, str):
idx = self.MocapNames.index(ide)
if idx < 0:
self.Message(f"No mocap body with name '{ide}' exits", 2)
return None
else:
idx = ide
return map_pose(p=self.scene.data.mocap_pos[idx], Q=self.scene.data.mocap_quat[idx], out=out)
[docs]
def GetObjectData(self, ide: ObjectIdType) -> Any:
"""
Return raw MuJoCo body data for a body name/id.
Parameters
----------
ide : ObjectIdType
Body name or id.
Returns
-------
Any
Raw MuJoCo body data object.
"""
return self.scene.data.body(ide).copy()
[docs]
def GetObjectPose(self, typ: str, ide: ObjectIdType, out: str = "x") -> Optional[PoseOutputType]:
"""
Return the pose of a body/site/geom in the requested format.
Parameters
----------
typ : str
Object type ("body", "site", or "geom").
ide : ObjectIdType
Object name or id.
out : str, optional
Output pose format understood by :func:`robotblockset.transformations.map_pose`.
Returns
-------
PoseOutputType or None
Pose of the requested object, or ``None`` when the object type is unsupported.
"""
if typ in set(["body", "site", "geom"]):
pos = eval(f"self.scene.data.{typ}({ide}).xpos.copy()")
quat = eval(f"self.scene.data.{typ}({ide}).xquat.copy()")
return map_pose(p=pos, Q=quat, out=out)
[docs]
def SetObjectPose(self, ide: ObjectIdType, x: PoseInputType) -> None:
"""
Set a body pose from a spatial representation.
Parameters
----------
ide : ObjectIdType
Body name or id.
x : PoseInputType
Pose represented as position, quaternion, pose vector, rotation matrix,
or homogeneous transform.
Returns
-------
None
Raises
------
ValueError
If ``x`` has an unsupported shape.
"""
x = self.spatial(x)
if x.shape == (4, 4):
xx = map_pose(T=x)
pos = xx[:3]
quat = xx[3:]
elif x.shape == (3, 3):
xx = r2q(x)
quat = xx
elif isvector(x, dim=7):
pos = x[:3]
quat = x[3:]
elif isvector(x, dim=3):
pos = x
elif isvector(x, dim=4):
quat = x
else:
raise ValueError(f"Parameter shape {x.shape} not supported")
self.scene.data.body(ide).xpos = pos
self.scene.data.body(ide).xquat = quat
[docs]
def SetEquality(self, ide: ObjectIdType, val: Union[int, bool]) -> None:
"""
Set an equality constraint activation flag.
Parameters
----------
ide : ObjectIdType
Equality constraint name or id.
val : Union[int, bool]
Activation flag.
Returns
-------
None
"""
self.scene.data.eq_active[self.scene.model.eq(ide).id] = val
[docs]
class tiagobase(platform_pymujoco, tiagobase_spec):
"""PyMuJoCo platform wrapper for the PAL Robotics Tiago Base."""
[docs]
def __init__(self, platform_name: str = "tiagobase", scene: Optional[mujoco_scene] = None, **kwargs: Any) -> None:
"""
Create a TiagoBase platform backed by PyMuJoCo.
Parameters
----------
platform_name : str, optional
Base name of the platform in the MuJoCo model.
scene : :class:`~robotblockset.mujoco.scene_pymujoco.mujoco_scene`, optional
Scene instance that owns the MuJoCo model and data.
**kwargs : Any
Additional keyword arguments passed to :class:`platform_pymujoco`,
including optional joint, actuator, base-body, and sensor names.
"""
tiagobase_spec.__init__(self)
platform_pymujoco.__init__(self, platform_name, scene=scene, **kwargs)
[docs]
class mir100_pymujoco(platform_pymujoco, mir100_spec):
"""PyMuJoCo platform wrapper for the MiR100 mobile base."""
[docs]
def __init__(self, platform_name: str = "mir", scene: Optional[mujoco_scene] = None, **kwargs: Any) -> None:
"""
Create a MiR100 platform backed by PyMuJoCo.
Parameters
----------
platform_name : str, optional
Base name of the platform in the MuJoCo model.
scene : :class:`~robotblockset.mujoco.scene_pymujoco.mujoco_scene`, optional
Scene instance that owns the MuJoCo model and data.
**kwargs : Any
Additional keyword arguments passed to :class:`platform_pymujoco`,
including optional joint, actuator, base-body, and sensor names.
"""
mir100_spec.__init__(self)
platform_pymujoco.__init__(self, platform_name, scene=scene, **kwargs)