def set_pose(self, pose: Pose):
"""Use with caution since it disrupts the physics simulation. Sets the pose of the
chassis.
"""
position, orientation = pose.as_bullet()
self._client.resetBasePositionAndOrientation(self._bullet_id, position,
orientation)
self._clear_step_cache()
def move_to(self, pose: Pose):
if not self._bullet_cid:
self._make_constraint(pose)
position, orientation = pose.as_bullet()
# TODO: Consider to remove offset when collision is improved
# Move contraints slightly up to avoid ground collision
ground_position = position + [0, 0, 0.2]
self._client.changeConstraint(self._bullet_cid, ground_position, orientation)
def reset_pose(self, pose: Pose):
"""Only call this before it needs to do anything physics-wise"""
position, orientation = pose.as_bullet()
self._client.resetBasePositionAndOrientation(
self._bullet_id,
np.sum([position, [0, 0, self._height * 0.5]], axis=0),
orientation,
)
def move_to(self, pose: Pose):
"""Moves the constraint to the given pose. The attached shape will attempt to follow."""
if not self._bullet_cid:
self._make_constraint(pose)
position, orientation = pose.as_bullet()
# TODO: Consider to remove offset when collision is improved
# Move constraints slightly up to avoid ground collision
ground_position = position + [0, 0, 0.2]
self._client.changeConstraint(self._bullet_cid, ground_position,
orientation)
def set_pose(self, pose: Pose):
position, orientation = pose.as_bullet()
self._client.resetBasePositionAndOrientation(self._bullet_id, position,
orientation)
def set_pose(self, pose: Pose):
position, orientation = pose.as_bullet()
self._client.resetBasePositionAndOrientation(self.bullet_id, position,
orientation)
self._bullet_constraint.move_to(pose)
