robosuite.models.objects.primitive package
Submodules
robosuite.models.objects.primitive.ball module
- class robosuite.models.objects.primitive.ball.BallObject(name, size=None, size_max=None, size_min=None, density=None, friction=None, rgba=None, solref=None, solimp=None, material=None, joints='default', obj_type='all', duplicate_collision_geoms=True)
Bases:
robosuite.models.objects.generated_objects.PrimitiveObjectA ball (sphere) object.
- Parameters
size (1-tuple of float) – (radius) size parameters for this ball object
- 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 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
- sanity_check()
Checks to make sure inputted size is of correct length
- Raises
AssertionError – [Invalid size length]
- 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
robosuite.models.objects.primitive.box module
- class robosuite.models.objects.primitive.box.BoxObject(name, size=None, size_max=None, size_min=None, density=None, friction=None, rgba=None, solref=None, solimp=None, material=None, joints='default', obj_type='all', duplicate_collision_geoms=True)
Bases:
robosuite.models.objects.generated_objects.PrimitiveObjectA box object.
- Parameters
size (3-tuple of float) – (half-x, half-y, half-z) size parameters for this box object
- 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 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
- sanity_check()
Checks to make sure inputted size is of correct length
- Raises
AssertionError – [Invalid size length]
- 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
robosuite.models.objects.primitive.capsule module
- class robosuite.models.objects.primitive.capsule.CapsuleObject(name, size=None, size_max=None, size_min=None, density=None, friction=None, rgba=None, solref=None, solimp=None, material=None, joints='default', obj_type='all', duplicate_collision_geoms=True)
Bases:
robosuite.models.objects.generated_objects.PrimitiveObjectA capsule object.
- Parameters
size (2-tuple of float) – (radius, half-length) size parameters for this capsule object
- 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 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
- sanity_check()
Checks to make sure inputted size is of correct length
- Raises
AssertionError – [Invalid size length]
- 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
robosuite.models.objects.primitive.cylinder module
- class robosuite.models.objects.primitive.cylinder.CylinderObject(name, size=None, size_max=None, size_min=None, density=None, friction=None, rgba=None, solref=None, solimp=None, material=None, joints='default', obj_type='all', duplicate_collision_geoms=True)
Bases:
robosuite.models.objects.generated_objects.PrimitiveObjectA cylinder object.
- Parameters
size (2-tuple of float) – (radius, half-length) size parameters for this cylinder object
- 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
- static get_collision_attrib_template()
Generates template with collision attributes for a given geom
Extends super method for better stability for contacts
- Returns
Initial template with ‘pos’ and ‘group’ already specified
- Return type
dict
- 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
- sanity_check()
Checks to make sure inputted size is of correct length
- Raises
AssertionError – [Invalid size length]
- 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