Unify joint control / link state calls

StanfordVL / iGibson

A Simulation Environment to train Robots in Large Realistic Interactive Scenes

http://svl.stanford.edu/igibson

MIT License

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Unify joint control / link state calls #265

Open ChengshuLi opened 2 years ago

ChengshuLi commented 2 years ago

We are using

pybullet calls: e.g. p.resetJointState
igibson.external.pybullet_tools.utils calls: e.g. set_joint_positions
RobotJoint function calls in robot_base.py: e.g. reset_state

It might be better to unify all of these.

cgokmen commented 2 years ago

There's usually no good reason to use the p. versions directly, too - with the pybullet_tools version you can see the arguments & it will put the results in easy-to-use namedtuples.