airobot.arm.yumi_pybullet

Pybullet simulation environment of an ABB Yumi robot.

class airobot.arm.yumi_pybullet.YumiPybullet(cfgs, pb_client, seed=None, self_collision=False, eetool_cfg=None)

Bases: airobot.arm.dual_arm_pybullet.DualArmPybullet

Class for pybullet simulation of ABB Yumi robot with separate functionality for both arms.

Parameters:

• cfgs (YACS CfgNode) – configurations for the arm.
• pb_client (BulletClient) – pybullet client.
• seed (int) – random seed.
• self_collision (bool) – enable self_collision or not whiling loading URDF.
• eetool_cfg (dict) – arguments to pass in the constructor of the end effector tool class.

Variables:

• right_arm (SingleArmPybullet) – Right arm instance
• left_arm (SingleArmPybullet) – Left arm instance
• robot_id (int) – PyBullet body unique id of the robot

reset(force_reset=False)

Reset the simulation environment.