robot_fingers.pybullet_drivers module

robot_fingers.pybullet_drivers.create_single_finger_backend(robot_data: robot_interfaces.py_finger_types.BaseData, real_time_mode: bool, visualize: bool, first_action_timeout: float = inf, max_number_of_actions: int = 0) → robot_interfaces.py_finger_types.Backend

Create backend for the Single Finger robot using PyBullet simulation.

Parameters:

  • robot_data (robot_interfaces.finger.Data) – Robot data instance for the Finger robot.

  • real_time_mode (bool) – If True, step the simulation in real time, otherwise as fast as possible.

  • visualize (bool) – If True, the PyBullet GUI is started for visualization.

  • first_action_timeout (float) – Timeout for the first action to arrive. If exceeded, the backend shuts down. Set to infinity to disable the timeout.

  • max_number_of_actions (int) – Maximum number of actions that are executed by the backend. If set to a value greater than zero, the backend will automatically shut down after the specified number of actions is executed.

Returns:

Finger backend using simulation instead of the real robot.

robot_fingers.pybullet_drivers.create_trifinger_backend(robot_data: robot_interfaces.py_trifinger_types.BaseData, real_time_mode: bool, visualize: bool, first_action_timeout: float = inf, max_number_of_actions: int = 0) → robot_interfaces.py_trifinger_types.Backend

Create a backend for the TriFinger robot using PyBullet simulation.

Parameters:

  • robot_data (robot_interfaces.trifinger.Data) – Robot data instance for the TriFinger robot.

  • real_time_mode (bool) – If True, step the simulation in real time, otherwise as fast as possible.

  • visualize (bool) – If True, the PyBullet GUI is started for visualization.

  • first_action_timeout (float) – Timeout for the first action to arrive. If exceeded, the backend shuts down. Set to infinity to disable the timeout.

  • max_number_of_actions (int) – Maximum number of actions that are executed by the backend. If set to a value greater than zero, the backend will automatically shut down after the specified number of actions is executed.

Returns:

TriFinger backend using simulation instead of the real robot.