Inheritance diagram for gym_billiard.utils.physics.PhysicsSim:

Collaboration diagram for gym_billiard.utils.physics.PhysicsSim:

Public Member Functions
def	__init__ (self, balls_pose=[[0, 0]], arm_position=None, params=None)

def	reset (self, balls_pose, arm_position)

def	move_joint (self, joint, value)

def	step (self)

Public Attributes
	params

	world
	Physic simulator. More...

	dt

	vel_iter

	pos_iter

	walls
	Walls in world RF. More...

	wt_transform
	world RF -> table RF More...

	tw_transform
	table RF -> world RF More...

	balls
	List of balls in simulation. More...

	arm
	Arm definition with links and joints. More...

	holes

Detailed Description

Physics simulator

Constructor & Destructor Documentation

◆ init()

def gym_billiard.utils.physics.PhysicsSim.__init__	(	self,
		balls_pose = `[[0, 0]]`,
		arm_position = `None`,
		params = `None`
	)

Constructor
:param balls_pose: Initial ball poses. Is a list of the ball poses [ball0, ball1, ...]
:param arm_position: Initial arm position
:param params: Parameters

Member Function Documentation

◆ move_joint()

def gym_billiard.utils.physics.PhysicsSim.move_joint	(	self,
		joint,
		value
	)

Move the given joint of the given value
:param joint: Joint to move
:param value: Speed or torque to add to the joint
:return:

◆ reset()

def gym_billiard.utils.physics.PhysicsSim.reset	(	self,
		balls_pose,
		arm_position
	)

Reset the world to the given arm and balls poses
:param balls_pose:
:param arm_position:
:return:

◆ step()

def gym_billiard.utils.physics.PhysicsSim.step ( self )

Performs a simulator step
:return:

Member Data Documentation

◆ arm

gym_billiard.utils.physics.PhysicsSim.arm

Arm definition with links and joints.

◆ balls

gym_billiard.utils.physics.PhysicsSim.balls

List of balls in simulation.

◆ dt

gym_billiard.utils.physics.PhysicsSim.dt

◆ holes

gym_billiard.utils.physics.PhysicsSim.holes

◆ params

gym_billiard.utils.physics.PhysicsSim.params

◆ pos_iter

gym_billiard.utils.physics.PhysicsSim.pos_iter

◆ tw_transform

gym_billiard.utils.physics.PhysicsSim.tw_transform

table RF -> world RF

◆ vel_iter

gym_billiard.utils.physics.PhysicsSim.vel_iter

◆ walls

gym_billiard.utils.physics.PhysicsSim.walls

Walls in world RF.

◆ world

gym_billiard.utils.physics.PhysicsSim.world

Physic simulator.

◆ wt_transform

gym_billiard.utils.physics.PhysicsSim.wt_transform

world RF -> table RF

The documentation for this class was generated from the following file:

gym_billiard/utils/physics.py

Public Member Functions

Public Attributes