Public Member Functions
None	close (self)
Robot	create_robot (self, str base_body, str tip_body, str prefix="", Optional[ToolFrameSpec] tool=None)
ResetInfo	reset (self, Optional[ResetOptions] options=None)
None	add_object (self, SceneObject object)
None	remove_object (self, str name)
list[str]	camera_names (self)
float	time (self)
float	timestep (self)
kdl.Frame	body_frame (self, str name)
kdl.Frame	site_frame (self, str name)
None	set_body_pose (self, str name, Sequence[float] pos, Optional[Sequence[float]] quat=None)
None	set_actuator_ctrl (self, str name, float value)
None	set_body_wrench (self, str name, Sequence[float] force, Sequence[float] torque=(0.0, 0.0, 0.0))
float	actuator_ctrl (self, str name)
bool	has_actuator (self, str name)
None	save_xml (self, str path)
None	save_binary (self, str path)

Static Public Member Functions
"Env"	build (SceneSpec spec)

Static Public Attributes
Optional	on_reset [Callable[[ResetContext], None]]

Detailed Description

Resettable scene environment that keeps registered Robot handles synchronized.

Definition at line 302 of file _mj_kdl_wrapper.pyi.

Member Function Documentation

◆ actuator_ctrl()

float mj_kdl_wrapper._mj_kdl_wrapper.Env.actuator_ctrl	(		self,
		str	name )

Definition at line 339 of file _mj_kdl_wrapper.pyi.

◆ add_object()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.add_object	(		self,
		SceneObject	object )

Definition at line 317 of file _mj_kdl_wrapper.pyi.

◆ body_frame()

kdl.Frame mj_kdl_wrapper._mj_kdl_wrapper.Env.body_frame	(		self,
		str	name )

Definition at line 324 of file _mj_kdl_wrapper.pyi.

◆ build()

"Env" mj_kdl_wrapper._mj_kdl_wrapper.Env.build ( SceneSpec spec )

static

Definition at line 307 of file _mj_kdl_wrapper.pyi.

◆ camera_names()

list[str] mj_kdl_wrapper._mj_kdl_wrapper.Env.camera_names ( self )

Definition at line 321 of file _mj_kdl_wrapper.pyi.

◆ close()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.close ( self )

Definition at line 308 of file _mj_kdl_wrapper.pyi.

◆ create_robot()

Robot mj_kdl_wrapper._mj_kdl_wrapper.Env.create_robot	(		self,
		str	base_body,
		str	tip_body,
		str	prefix = "",
		Optional[ToolFrameSpec]	tool = None )

Definition at line 309 of file _mj_kdl_wrapper.pyi.

◆ has_actuator()

bool mj_kdl_wrapper._mj_kdl_wrapper.Env.has_actuator	(		self,
		str	name )

Definition at line 340 of file _mj_kdl_wrapper.pyi.

◆ remove_object()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.remove_object	(		self,
		str	name )

Definition at line 319 of file _mj_kdl_wrapper.pyi.

◆ reset()

ResetInfo mj_kdl_wrapper._mj_kdl_wrapper.Env.reset	(		self,
		Optional[ResetOptions]	options = None )

Definition at line 316 of file _mj_kdl_wrapper.pyi.

◆ save_binary()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.save_binary	(		self,
		str	path )

Definition at line 342 of file _mj_kdl_wrapper.pyi.

◆ save_xml()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.save_xml	(		self,
		str	path )

Definition at line 341 of file _mj_kdl_wrapper.pyi.

◆ set_actuator_ctrl()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.set_actuator_ctrl	(		self,
		str	name,
		float	value )

Definition at line 332 of file _mj_kdl_wrapper.pyi.

◆ set_body_pose()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.set_body_pose	(		self,
		str	name,
		Sequence[float]	pos,
		Optional[Sequence[float]]	quat = None )

Definition at line 326 of file _mj_kdl_wrapper.pyi.

◆ set_body_wrench()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.set_body_wrench	(		self,
		str	name,
		Sequence[float]	force,
		Sequence[float]	torque = (0.0, 0.0, 0.0) )

Definition at line 333 of file _mj_kdl_wrapper.pyi.

◆ site_frame()

kdl.Frame mj_kdl_wrapper._mj_kdl_wrapper.Env.site_frame	(		self,
		str	name )

Definition at line 325 of file _mj_kdl_wrapper.pyi.

◆ time()

float mj_kdl_wrapper._mj_kdl_wrapper.Env.time ( self )

Definition at line 322 of file _mj_kdl_wrapper.pyi.

◆ timestep()

float mj_kdl_wrapper._mj_kdl_wrapper.Env.timestep ( self )

Definition at line 323 of file _mj_kdl_wrapper.pyi.

Member Data Documentation

◆ on_reset

Optional mj_kdl_wrapper._mj_kdl_wrapper.Env.on_reset [Callable[[ResetContext], None]]