robosuite.models.robots package
Subpackages
- robosuite.models.robots.manipulators package
- Submodules
- robosuite.models.robots.manipulators.baxter_robot module
- robosuite.models.robots.manipulators.iiwa_robot module
- robosuite.models.robots.manipulators.jaco_robot module
- robosuite.models.robots.manipulators.kinova3_robot module
- robosuite.models.robots.manipulators.manipulator_model module
- robosuite.models.robots.manipulators.panda_robot module
- robosuite.models.robots.manipulators.sawyer_robot module
- robosuite.models.robots.manipulators.ur5e_robot module
- Module contents
Submodules
robosuite.models.robots.robot_model module
- class robosuite.models.robots.robot_model.RobotModel(fname, idn=0)
Bases:
robosuite.models.base.MujocoXMLModelBase class for all robot models.
- 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 robot instance
- add_mount(mount)
Mounts @mount to arm.
Throws error if robot already has a mount or if mount type is incorrect.
- Parameters
mount (MountModel) – mount MJCF model
- Raises
ValueError – [mount already added]
- property base_xpos_offset
Defines the dict of various (x,y,z) tuple offsets relative to specific arenas placed at (0,0,0) Assumes robot is facing forwards (in the +x direction) when determining offset. Should have entries for each arena case; i.e.: “bins”, “empty”, and “table”)
- Returns
- Dict mapping arena names to robot offsets from the global origin (dict entries may also be lambdas
for variable offsets)
- Return type
dict
- property bottom_offset
Returns vector from model root body to model bottom. By default, this is equivalent to this robot’s mount’s (bottom_offset - top_offset) + this robot’s base offset
- Returns
(dx, dy, dz) offset vector
- Return type
np.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
- property default_controller_config
Defines the name of default controller config file in the controllers/config directory for this robot.
- Returns
filename of default controller config for this robot
- Return type
str
- property default_mount
Defines the default mount type for this robot that gets added to root body (base)
- Returns
Default mount name to add to this robot
- Return type
str
- property dof
Defines the number of DOF of the robot
- Returns
robot DOF
- Return type
int
- property horizontal_radius
Returns maximum distance from model root body to any radial point of the model. This method takes into account the mount horizontal radius as well
- Returns
radius
- Return type
float
- property init_qpos
Defines the default rest qpos of this robot
- Returns
Default init qpos of this robot
- Return type
np.array
- property models
Returns a list of all m(sub-)models owned by this robot model. By default, this includes the mount model, if specified
- Returns
models owned by this object
- Return type
list
- property naming_prefix
Generates a standardized prefix to prevent naming collisions
- Returns
Prefix unique to this model.
- Return type
str
- set_base_ori(rot)
Rotates robot by rotation @rot from its original orientation.
- Parameters
rot (3-array) – (r,p,y) euler angles specifying the orientation for the robot base
- set_base_xpos(pos)
Places the robot on position @pos.
- Parameters
pos (3-array) – (x,y,z) position to place robot base
- set_joint_attribute(attrib, values, force=True)
Sets joint attributes, e.g.: friction loss, damping, etc.
- Parameters
attrib (str) – Attribute to set for all joints
values (n-array) – Values to set for each joint
force (bool) – If True, will automatically override any pre-existing value. Otherwise, if a value already exists for this value, it will be skipped
- Raises
AssertionError – [Inconsistent dimension sizes]
- 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
- class robosuite.models.robots.robot_model.RobotModelMeta(name, bases, class_dict)
Bases:
typeMetaclass for registering robot arms
- robosuite.models.robots.robot_model.create_robot(robot_name, *args, **kwargs)
Instantiates a Robot object.
- Parameters
robot_name (str) – Name of the robot to initialize
*args – Additional arguments to pass to the specific Robot class initializer
**kwargs – Additional arguments to pass to the specific Robot class initializer
- Returns
Desired robot
- Return type
- Raises
Exception – [Invalid robot name]
- robosuite.models.robots.robot_model.register_robot(target_class)