robosuite.controllers.parts package

robosuite.controllers.parts package#

Subpackages#

Submodules#

robosuite.controllers.parts.controller module#

class robosuite.controllers.parts.controller.Controller(sim, joint_indexes, actuator_range, ref_name=None, part_name=None, naming_prefix=None, lite_physics=True)#

Bases: object

General controller interface.

Requires reference to mujoco sim object, ref_name of specific robot, relevant joint_indexes to that robot, and whether an initial_joint is used for nullspace torques or not

Parameters:

  • sim (MjSim) – Simulator instance this controller will pull robot state updates from

  • ref_name (str) – Name of controlled robot arm’s end effector (from robot XML)

  • joint_indexes (dict) –

    Each key contains sim reference indexes to relevant robot joint information, namely:

    ’joints’:

    list of indexes to relevant robot joints

    ’qpos’:

    list of indexes to relevant robot joint positions

    ’qvel’:

    list of indexes to relevant robot joint velocities

  • actuator_range (2-tuple of array of float) – 2-Tuple (low, high) representing the robot joint actuator range

  • lite_physics (bool) – Whether to optimize for mujoco forward and step calls to reduce total simulation overhead. Ignores all self.update() calls, unless set to force=True Set to False to preserve backward compatibility with datasets collected in robosuite <= 1.4.1.

property actuator_limits#

Torque limits for this controller

Returns:

  • (np.array) minimum actuator torques

  • (np.array) maximum actuator torques

Return type:

2-tuple

clip_torques(torques)#

Clips the torques to be within the actuator limits

Parameters:

torques (Iterable) – Torques to clip

Returns:

Clipped torques

Return type:

np.array

property control_limits#

Limits over this controller’s action space, which defaults to input min/max

Returns:

  • (np.array) minimum action values

  • (np.array) maximum action values

Return type:

2-tuple

property name#

Name of this controller

Returns:

controller name

Return type:

str

static nums2array(nums, dim)#

Convert input @nums into numpy array of length @dim. If @nums is a single number, broadcasts it to the corresponding dimension size @dim before converting into a numpy array

Parameters:

  • nums (numeric or Iterable) – Either single value or array of numbers

  • dim (int) – Size of array to broadcast input to env.sim.data.actuator_force

Returns:

Array filled with values specified in @nums

Return type:

np.array

reset_goal()#

Resets the goal – usually by setting to the goal to all zeros, but in some cases may be different (e.g.: OSC)

abstract run_controller()#

Abstract method that should be implemented in all subclass controllers, and should convert a given action into torques (pre gravity compensation) to be executed on the robot. Additionally, resets the self.new_update flag so that the next self.update call will occur

scale_action(action)#

Clips @action to be within self.input_min and self.input_max, and then re-scale the values to be within the range self.output_min and self.output_max

Parameters:

action (Iterable) – Actions to scale

Returns:

Re-scaled action

Return type:

np.array

property torque_compensation#

Gravity compensation for this robot arm

Returns:

torques

Return type:

np.array

update(force=False)#

Updates the state of the robot arm, including end effector pose / orientation / velocity, joint pos/vel, jacobian, and mass matrix. By default, since this is a non-negligible computation, multiple redundant calls will be ignored via the self.new_update attribute flag. However, if the @force flag is set, the update will occur regardless of that state of self.new_update. This base class method of @run_controller resets the self.new_update flag

Parameters:

force (bool) – Whether to force an update to occur or not

update_initial_joints(initial_joints)#

Updates the internal attribute self.initial_joints. This is useful for updating changes in controller-specific behavior, such as with OSC where self.initial_joints is used for determine nullspace actions

This function can also be extended by subclassed controllers for additional controller-specific updates

Parameters:

initial_joints (Iterable) – Array of joint position values to update the initial joints

update_origin(origin_pos, origin_ori)#

Optional function to implement in subclass controllers that will take in @origin_pos and @origin_ori and update internal configuration to account for changes in the respective states. Useful for controllers in which the origin is a frame of reference that is dynamically changing, e.g., adapting the arm to move along with a moving base.

Parameters:

  • origin_pos (3-tuple) – x,y,z position of controller reference in mujoco world coordinates

  • origin_ori (np.array) – 3x3 rotation matrix orientation of controller reference in mujoco world coordinates

update_reference_data()#

robosuite.controllers.parts.controller_factory module#

Set of functions that streamline controller initialization process

robosuite.controllers.parts.controller_factory.arm_controller_factory(name, params)#

Generator for controllers

Creates a Controller instance with the provided @name and relevant @params.

Parameters:

  • name (str) – the name of the controller. Must be one of: {JOINT_POSITION, JOINT_TORQUE, JOINT_VELOCITY, OSC_POSITION, OSC_POSE, IK_POSE}

  • params (dict) – dict containing the relevant params to pass to the controller

  • sim (MjSim) – Mujoco sim reference to pass to the controller

Returns:

Controller instance

Return type:

Controller

Raises:

ValueError – [unknown controller]

robosuite.controllers.parts.controller_factory.controller_factory(part_name, controller_type, controller_params)#
robosuite.controllers.parts.controller_factory.gripper_controller_factory(name, params)#
robosuite.controllers.parts.controller_factory.head_controller_factory(name, params)#
robosuite.controllers.parts.controller_factory.legs_controller_factory(name, params)#
robosuite.controllers.parts.controller_factory.load_part_controller_config(custom_fpath=None, default_controller=None)#

Utility function that loads the desired controller and returns the loaded configuration as a dict

If @default_controller is specified, any value inputted to @custom_fpath is overridden and the default controller configuration is automatically loaded. See specific arg description below for available default controllers.

Parameters:

  • custom_fpath (str) – Absolute filepath to the custom controller configuration .json file to be loaded

  • default_controller (str) – If specified, overrides @custom_fpath and loads a default configuration file for the specified controller. Choices are: {“JOINT_POSITION”, “JOINT_TORQUE”, “JOINT_VELOCITY”, “OSC_POSITION”, “OSC_POSE”, “IK_POSE”}

Returns:

Controller configuration

Return type:

dict

Raises:

  • AssertionError – [Unknown default controller name]

  • AssertionError – [No controller specified]

robosuite.controllers.parts.controller_factory.mobile_base_controller_factory(name, params)#
robosuite.controllers.parts.controller_factory.torso_controller_factory(name, params)#

Module contents#