robosuite.models.mounts package
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
- 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