Mujoco Model

The MujocoModel class is the foundational class from which all other model classes extend from in robosuite. This class represents a standardized API for all models used in simulation and is the core modeling component that other model classes build upon. The MujocoXMLModel is an extension of this class that represents models based on an XML file.

Base Mujoco Model

class robosuite.models.base.MujocoModel

Base class for all simulation models used in mujoco.

Standardizes core API for accessing models’ relevant geoms, names, etc.

correct_naming(names)

Corrects all strings in @names by adding the naming prefix to it and returns the name-corrected values

Parameters

names (str, list, or dict) – Name(s) to be corrected

Raises

TypeError – [Invalid input type]

set_sites_visibility(sim, visible)

Set all site visual states for this model.

Parameters
  • sim (MjSim) – Current active mujoco simulation instance

  • visible (bool) – If True, will visualize model sites. Else, will hide the sites.

exclude_from_prefixing(inp)

A function that should take in an arbitrary input and return either True or False, determining whether the corresponding name to @inp should have naming_prefix added to it. Must be defined by subclass.

Parameters

inp (any) – Arbitrary input, depending on subclass. Can be str, ET.Element, etc.

Returns

True if we should exclude the associated name(s) with @inp from being prefixed with naming_prefix

Return type

bool

property name

Name for this model. Should be unique.

Returns

Unique name for this model.

Return type

str

property naming_prefix

Generates a standardized prefix to prevent naming collisions

Returns

Prefix unique to this model.

Return type

str

property root_body

Root body name for this model. This should correspond to the top-level body element in the equivalent mujoco xml tree for this object.

property bodies

Returns: list: Body names for this model

property joints

Returns: list: Joint names for this model

property actuators

Returns: list: Actuator names for this model

property sites

Returns: list: Site names for this model

property sensors

Returns: list: Sensor names for this model

property contact_geoms

List of names corresponding to the geoms used to determine contact with this model.

Returns

relevant contact geoms for this model

Return type

list

property visual_geoms

List of names corresponding to the geoms used for visual rendering of this model.

Returns

relevant visual geoms for this model

Return type

list

property important_geoms

Geoms corresponding to important components of this model. String keywords should be mapped to lists of geoms.

Returns

Important set of geoms, where each set of geoms are grouped as a list and are organized by keyword string entries into a dict

Return type

dict of list

property important_sites

used to aid visualization during sim).

Returns

Important site geoms, where each specific geom name is mapped from keyword string entries

in the dict

Return type

dict

Type

Dict of sites corresponding to the important site geoms (e.g.

property important_sensors

Dict of important sensors enabled for this model.

Returns

Important sensors for this model, where each specific sensor name is mapped from keyword string

entries in the dict

Return type

dict

property bottom_offset

Returns vector from model root body to model bottom. Useful for, e.g. placing models on a surface. Must be defined by subclass.

Returns

(dx, dy, dz) offset vector

Return type

np.array

property top_offset

Returns vector from model root body to model top. Useful for, e.g. placing models on a surface. Must be defined by subclass.

Returns

(dx, dy, dz) offset vector

Return type

np.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

XML Mujoco Model

class robosuite.models.base.MujocoXMLModel(fname, idn=0)

Base class for all MujocoModels that are based on a raw XML file.

Parameters
  • fname (str) – Path to relevant xml file from which to create this robot instance

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

property base_offset

Provides position offset of root body.

Returns

(x,y,z) pos value of root_body body element. If no pos in element, returns all zeros.

Return type

3-array

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