- class adam_sim.features.adam.adam.Adam
The Adam class contains all the methods to control and render the ADAM robot either in simulation or in real life.
- Attributes:
- base~.entities.Base
the base of the robot
- left_manipulator~.entities.Manipulator
the left manipulator of the robot
- right_manipulator~.entities.Manipulator
the right manipulator of the robot
Methods
connect:
connects to a given host and port
load:
loads a given MuJoCo scene. This method is mandatory to call
step:
advance one step in the simulation
render:
renders the scene
close:
closes all the visualizers
check_collisions:
checks if there are any collisions in the scene
export_scene:
exports the scene to the specified directory
- check_collisions(left_configurations: list[adam_sim.entities.configuration.Configuration], right_configurations: list[adam_sim.entities.configuration.Configuration]) tuple[numpy.ndarray, numpy.ndarray]
checks wether there are self collisions or environment collisions
- Parameters:
- left_configurationslist[~.entities.Configuration]
the configurations of the left manipulator
- right_configurationslist[~.entities.Configuration]
the configurations of the right manipulator
- Returns:
- outtuple[np.ndarray, np.ndarray]
the first element is an array of the environment collisions and the second element is an array of the self collisions
- Raises:
- Exception
if the robot is not in simulation mode
- close() None
closes all the visualizers and connections
- connect(host: str, port: int, rate: int = 30) AdamInfo
connects to a given host and port
- Parameters:
- hoststr
the host to connect to
- portint
the port to connect to
- static export_scene(destination: str) None
exports the default ADAM scene to a given directory
- Parameters:
- destinationstr
the directory in which to export the scene
Notes
Remember that the destination must end with ‘/’
- load(filename: str | None = None) AdamInfo
loads a given MuJoCo scene.xml
- Parameters:
- filenamestr, optional
the path to the scene.xml. By default it loads the integrated ADAM scene
- Returns:
- out~.entities.AdamInfo
the initial info of the robot
- render(hide_menu: bool = True) None
renders the scene
- Parameters:
- hide_menubool, optional
whether to hide the menu or not. By default it is True