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update doc
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ghzh26252 committed Jan 20, 2024
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8 changes: 2 additions & 6 deletions Test/test_load_urdf.py
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Expand Up @@ -6,13 +6,9 @@

ur5 = env.LoadURDF(path=os.path.abspath("../URDF/UR5/ur5_robot.urdf"), native_ik=True)
ur5.SetTransform(position=[1, 0, 0])
yumi = env.LoadURDF(
path=os.path.abspath("../URDF/yumi_description/urdf/yumi.urdf"), native_ik=False
)
yumi = env.LoadURDF(path=os.path.abspath("../URDF/yumi_description/urdf/yumi.urdf"), native_ik=False)
yumi.SetTransform(position=[2, 0, 0])
kinova = env.LoadURDF(
path=os.path.abspath("../URDF/kinova_gen3/GEN3_URDF_V12.urdf"), native_ik=False
)
kinova = env.LoadURDF(path=os.path.abspath("../URDF/kinova_gen3/GEN3_URDF_V12.urdf"), native_ik=False)
kinova.SetTransform(position=[3, 0, 0])
env.step()

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3 changes: 0 additions & 3 deletions docs/_sources/examples/loading_urdf.md.txt
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Expand Up @@ -44,16 +44,13 @@ The next code section moves and rotates the UR5 robot manipulator by setting its

```python
ur5.IKTargetDoMove(position=[0, 0.5, 0], duration=0.1, relative=True)
env.step()
ur5.WaitDo()

ur5.IKTargetDoMove(position=[0, 0, -0.5], duration=0.1, relative=True)
env.step()
ur5.WaitDo()

ur5.IKTargetDoMove(position=[0, -0.2, 0.3], duration=0.1, relative=True)
ur5.IKTargetDoRotateQuaternion(quaternion=utility.UnityEularToQuaternion([0, 90, 0]), duration=30, relative=True)
env.step()
ur5.WaitDo()
```

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7 changes: 0 additions & 7 deletions docs/_sources/examples/pick_and_place.md.txt
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Expand Up @@ -43,7 +43,6 @@ gripper = env.GetAttr(1234560)
gripper.GripperOpen()
robot.IKTargetDoMove(position=[0, 0.7, 0.5], duration=0, speed_based=False)
robot.IKTargetDoRotate(rotation=[0, 45, 180], duration=0, speed_based=False)
env.step()
robot.WaitDo()
```

Expand All @@ -62,29 +61,23 @@ while 1:
# For box1
position1 = box1.data['position']
robot.IKTargetDoMove(position=[position1[0], position1[1] + 0.5, position1[2]], duration=2, speed_based=False)
env.step()
robot.WaitDo()
robot.IKTargetDoMove(position=[position1[0], position1[1], position1[2]], duration=2, speed_based=False)
env.step()
robot.WaitDo()
gripper.GripperClose()
env.step(50)
robot.IKTargetDoMove(position=[0, 0.5, 0], duration=2, speed_based=False, relative=True)
env.step()
robot.WaitDo()

# For box2
position2 = box2.data['position']
robot.IKTargetDoMove(position=[position2[0], position2[1] + 0.5, position2[2]], duration=4, speed_based=False)
env.step()
robot.WaitDo()
robot.IKTargetDoMove(position=[position2[0], position2[1] + 0.06, position2[2]], duration=2, speed_based=False)
env.step()
robot.WaitDo()
gripper.GripperOpen()
env.step(50)
robot.IKTargetDoMove(position=[0, 0.5, 0], duration=2, speed_based=False, relative=True)
env.step()
robot.WaitDo()

#Remove the boxes from the simulation
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49 changes: 7 additions & 42 deletions docs/_sources/pyrfuniverse.attributes.rst.txt
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Expand Up @@ -3,13 +3,6 @@
pyrfuniverse.attributes package
===============================

pyrfuniverse.attributes.activelightsensor\_attr module
------------------------------------------------------

.. automodule:: pyrfuniverse.attributes.activelightsensor_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.base\_attr module
-----------------------------------------

Expand All @@ -25,78 +18,50 @@ pyrfuniverse.attributes.camera\_attr module
:show-inheritance:

pyrfuniverse.attributes.cloth\_attr module
------------------------------------------
----------------------------------------------------------------------------

.. automodule:: pyrfuniverse.attributes.cloth_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.collider\_attr module
---------------------------------------------
-------------------------------------------------------------------------------

.. automodule:: pyrfuniverse.attributes.collider_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.controller\_attr module
-----------------------------------------------
---------------------------------------------------------------------------------

.. automodule:: pyrfuniverse.attributes.controller_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.digit\_attr module
------------------------------------------

.. automodule:: pyrfuniverse.attributes.digit_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.gameobject\_attr module
-----------------------------------------------
---------------------------------------------------------------------------------

.. automodule:: pyrfuniverse.attributes.gameobject_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.graspsim\_attr module
---------------------------------------------

.. automodule:: pyrfuniverse.attributes.graspsim_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.humanbody\_attr module
----------------------------------------------

.. automodule:: pyrfuniverse.attributes.humanbody_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.light\_attr module
------------------------------------------
----------------------------------------------------------------------------

.. automodule:: pyrfuniverse.attributes.light_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.pointcloud\_attr module
-----------------------------------------------
---------------------------------------------------------------------------------

.. automodule:: pyrfuniverse.attributes.pointcloud_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.rigidbody\_attr module
----------------------------------------------
--------------------------------------------------------------------------------

.. automodule:: pyrfuniverse.attributes.rigidbody_attr
:members:
:show-inheritance:

pyrfuniverse.attributes.softbody\_attr module
---------------------------------------------

.. automodule:: pyrfuniverse.attributes.softbody_attr
:members:
:show-inheritance:
11 changes: 2 additions & 9 deletions docs/_sources/pyrfuniverse.envs.rst.txt
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Expand Up @@ -2,22 +2,15 @@ pyrfuniverse.envs package
=========================

pyrfuniverse.envs.base\_env module
----------------------------------
--------------------------------------------------------------------

.. automodule:: pyrfuniverse.envs.base_env
:members:
:show-inheritance:

pyrfuniverse.envs.gym\_wrapper\_env module
----------------------------------
--------------------------------------------------------------------

.. automodule:: pyrfuniverse.envs.gym_wrapper_env
:members:
:show-inheritance:

pyrfuniverse.envs.gym\_goal\_wrapper\_env module
----------------------------------

.. automodule:: pyrfuniverse.envs.gym_goal_wrapper_env
:members:
:show-inheritance:
11 changes: 9 additions & 2 deletions docs/_sources/pyrfuniverse.utils.rst.txt
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Expand Up @@ -2,15 +2,22 @@ pyrfuniverse.utils package
==========================

pyrfuniverse.utils.depth\_processor module
------------------------------------------
----------------------------------------------------------------------------

.. automodule:: pyrfuniverse.utils.depth_processor
:members:
:show-inheritance:

pyrfuniverse.utils.rfuniverse\_utility module
---------------------------------------------
-------------------------------------------------------------------------------

.. automodule:: pyrfuniverse.utils.rfuniverse_utility
:members:
:show-inheritance:

pyrfuniverse.utils.coordinate\_system\_converter module
-------------------------------------------------------------------------------

.. automodule:: pyrfuniverse.utils.coordinate_system_converter
:members:
:show-inheritance:
3 changes: 0 additions & 3 deletions docs/examples/loading_urdf.html
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Expand Up @@ -140,16 +140,13 @@ <h2>Understanding the Code<a class="headerlink" href="#understanding-the-code" t
</ol>
<p>The next code section moves and rotates the UR5 robot manipulator by setting its inverse kinematics (IK) target, performing the move, and waiting for the move to complete. The “duration” parameter specifies the time taken for the movement, and the “relative” parameter specifies whether the movement is relative to the previous position or not.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">ur5</span><span class="o">.</span><span class="n">IKTargetDoMove</span><span class="p">(</span><span class="n">position</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">duration</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="n">relative</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
<span class="n">ur5</span><span class="o">.</span><span class="n">WaitDo</span><span class="p">()</span>

<span class="n">ur5</span><span class="o">.</span><span class="n">IKTargetDoMove</span><span class="p">(</span><span class="n">position</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.5</span><span class="p">],</span> <span class="n">duration</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="n">relative</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
<span class="n">ur5</span><span class="o">.</span><span class="n">WaitDo</span><span class="p">()</span>

<span class="n">ur5</span><span class="o">.</span><span class="n">IKTargetDoMove</span><span class="p">(</span><span class="n">position</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">],</span> <span class="n">duration</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="n">relative</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
<span class="n">ur5</span><span class="o">.</span><span class="n">IKTargetDoRotateQuaternion</span><span class="p">(</span><span class="n">quaternion</span><span class="o">=</span><span class="n">utility</span><span class="o">.</span><span class="n">UnityEularToQuaternion</span><span class="p">([</span><span class="mi">0</span><span class="p">,</span> <span class="mi">90</span><span class="p">,</span> <span class="mi">0</span><span class="p">]),</span> <span class="n">duration</span><span class="o">=</span><span class="mi">30</span><span class="p">,</span> <span class="n">relative</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
<span class="n">ur5</span><span class="o">.</span><span class="n">WaitDo</span><span class="p">()</span>
</pre></div>
</div>
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7 changes: 0 additions & 7 deletions docs/examples/pick_and_place.html
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Expand Up @@ -139,7 +139,6 @@ <h2>Understanding the Code<a class="headerlink" href="#understanding-the-code" t
<span class="n">gripper</span><span class="o">.</span><span class="n">GripperOpen</span><span class="p">()</span>
<span class="n">robot</span><span class="o">.</span><span class="n">IKTargetDoMove</span><span class="p">(</span><span class="n">position</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">0.7</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">],</span> <span class="n">duration</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">speed_based</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
<span class="n">robot</span><span class="o">.</span><span class="n">IKTargetDoRotate</span><span class="p">(</span><span class="n">rotation</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">45</span><span class="p">,</span> <span class="mi">180</span><span class="p">],</span> <span class="n">duration</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">speed_based</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
<span class="n">robot</span><span class="o">.</span><span class="n">WaitDo</span><span class="p">()</span>
</pre></div>
</div>
Expand All @@ -157,29 +156,23 @@ <h2>Understanding the Code<a class="headerlink" href="#understanding-the-code" t
<span class="c1"># For box1</span>
<span class="n">position1</span> <span class="o">=</span> <span class="n">box1</span><span class="o">.</span><span class="n">data</span><span class="p">[</span><span class="s1">&#39;position&#39;</span><span class="p">]</span>
<span class="n">robot</span><span class="o">.</span><span class="n">IKTargetDoMove</span><span class="p">(</span><span class="n">position</span><span class="o">=</span><span class="p">[</span><span class="n">position1</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">position1</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="mf">0.5</span><span class="p">,</span> <span class="n">position1</span><span class="p">[</span><span class="mi">2</span><span class="p">]],</span> <span class="n">duration</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">speed_based</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
<span class="n">robot</span><span class="o">.</span><span class="n">WaitDo</span><span class="p">()</span>
<span class="n">robot</span><span class="o">.</span><span class="n">IKTargetDoMove</span><span class="p">(</span><span class="n">position</span><span class="o">=</span><span class="p">[</span><span class="n">position1</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">position1</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">position1</span><span class="p">[</span><span class="mi">2</span><span class="p">]],</span> <span class="n">duration</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">speed_based</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
<span class="n">robot</span><span class="o">.</span><span class="n">WaitDo</span><span class="p">()</span>
<span class="n">gripper</span><span class="o">.</span><span class="n">GripperClose</span><span class="p">()</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="mi">50</span><span class="p">)</span>
<span class="n">robot</span><span class="o">.</span><span class="n">IKTargetDoMove</span><span class="p">(</span><span class="n">position</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">duration</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">speed_based</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">relative</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
<span class="n">robot</span><span class="o">.</span><span class="n">WaitDo</span><span class="p">()</span>

<span class="c1"># For box2</span>
<span class="n">position2</span> <span class="o">=</span> <span class="n">box2</span><span class="o">.</span><span class="n">data</span><span class="p">[</span><span class="s1">&#39;position&#39;</span><span class="p">]</span>
<span class="n">robot</span><span class="o">.</span><span class="n">IKTargetDoMove</span><span class="p">(</span><span class="n">position</span><span class="o">=</span><span class="p">[</span><span class="n">position2</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">position2</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="mf">0.5</span><span class="p">,</span> <span class="n">position2</span><span class="p">[</span><span class="mi">2</span><span class="p">]],</span> <span class="n">duration</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">speed_based</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
<span class="n">robot</span><span class="o">.</span><span class="n">WaitDo</span><span class="p">()</span>
<span class="n">robot</span><span class="o">.</span><span class="n">IKTargetDoMove</span><span class="p">(</span><span class="n">position</span><span class="o">=</span><span class="p">[</span><span class="n">position2</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">position2</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="mf">0.06</span><span class="p">,</span> <span class="n">position2</span><span class="p">[</span><span class="mi">2</span><span class="p">]],</span> <span class="n">duration</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">speed_based</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
<span class="n">robot</span><span class="o">.</span><span class="n">WaitDo</span><span class="p">()</span>
<span class="n">gripper</span><span class="o">.</span><span class="n">GripperOpen</span><span class="p">()</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="mi">50</span><span class="p">)</span>
<span class="n">robot</span><span class="o">.</span><span class="n">IKTargetDoMove</span><span class="p">(</span><span class="n">position</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">duration</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">speed_based</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">relative</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
<span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
<span class="n">robot</span><span class="o">.</span><span class="n">WaitDo</span><span class="p">()</span>

<span class="c1">#Remove the boxes from the simulation</span>
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