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