Submodules#

robosuite.models.mounts.mount_factory module#

Defines a string based method of initializing mounts

robosuite.models.mounts.mount_factory.mount_factory(name, idn=0)#

Generator for grippers

Creates a MountModel instance with the provided name.

Parameters

• name (None or str) – the name of the mount class

• idn (int or str) – Number or some other unique identification string for this mount instance

Returns

requested mount instance

Return type

MountModel

Raises

XMLError – [invalid XML]

robosuite.models.mounts.mount_model module#

Defines the base class of all mounts

class robosuite.models.mounts.mount_model.MountModel(fname, idn=0)#

Bases: robosuite.models.base.MujocoXMLModel

Base class for mounts that will be attached to robots. Note that this model’s root body will be directly appended to the robot’s root body, so all offsets should be taken relative to that.

Parameters

• fname (str) – Path to relevant xml file to create this mount instance

• idn (int or str) – Number or some other unique identification string for this gripper instance

property contact_geom_rgba#

RGBA color to assign to all contact geoms for this model

Returns

(r,g,b,a) values from 0 to 1 for this model’s set of contact geoms

Return type

4-array

property horizontal_radius#

Returns maximum distance from model root body to any radial point of the model.

Helps us put models programmatically without them flying away due to a huge initial contact force. Must be defined by subclass.

Returns

radius

Return type

float

property naming_prefix#

Generates a standardized prefix to prevent naming collisions

Returns

Prefix unique to this model.

Return type

str

property top_offset#

Returns vector from model root body to model top. This should correspond to the distance from the root body to the actual mounting surface location of this mount.

Returns

(dx, dy, dz) offset vector

Return type

np.array

robosuite.models.mounts.null_mount module#

Rethink’s Generic Mount (Officially used on Sawyer).

class robosuite.models.mounts.null_mount.NullMount(idn=0)#

Bases: robosuite.models.mounts.mount_model.MountModel

Dummy Mount to signify no mount.

Parameters

idn (int or str) – Number or some other unique identification string for this mount instance

property horizontal_radius#

Returns maximum distance from model root body to any radial point of the model.

Helps us put models programmatically without them flying away due to a huge initial contact force. Must be defined by subclass.

Returns

radius

Return type

float

property top_offset#

Returns vector from model root body to model top. This should correspond to the distance from the root body to the actual mounting surface location of this mount.

Returns

(dx, dy, dz) offset vector

Return type

np.array

robosuite.models.mounts.rethink_minimal_mount module#

Rethink’s Alternative Mount (Officially used on Baxter).

class robosuite.models.mounts.rethink_minimal_mount.RethinkMinimalMount(idn=0)#

Bases: robosuite.models.mounts.mount_model.MountModel

Mount officially used for Rethink’s Baxter Robot. Includes only a wheeled pedestal.

Parameters

idn (int or str) – Number or some other unique identification string for this mount instance

property horizontal_radius#

Returns maximum distance from model root body to any radial point of the model.

Helps us put models programmatically without them flying away due to a huge initial contact force. Must be defined by subclass.

Returns

radius

Return type

float

property top_offset#

Returns vector from model root body to model top. This should correspond to the distance from the root body to the actual mounting surface location of this mount.

Returns

(dx, dy, dz) offset vector

Return type

np.array

robosuite.models.mounts.rethink_mount module#

Rethink’s Generic Mount (Officially used on Sawyer).

class robosuite.models.mounts.rethink_mount.RethinkMount(idn=0)#

Bases: robosuite.models.mounts.mount_model.MountModel

Mount officially used for Rethink’s Sawyer Robot. Includes a controller box and wheeled pedestal.

Parameters

idn (int or str) – Number or some other unique identification string for this mount instance

property horizontal_radius#

Returns maximum distance from model root body to any radial point of the model.

Helps us put models programmatically without them flying away due to a huge initial contact force. Must be defined by subclass.

Returns

radius

Return type

float

property top_offset#

Returns vector from model root body to model top. This should correspond to the distance from the root body to the actual mounting surface location of this mount.

Returns

(dx, dy, dz) offset vector

Return type

np.array

Module contents#