robosuite.models.bases package

Submodules

robosuite.models.bases.floating_legged_base module

Rethink’s Generic Mount (Officially used on Sawyer).

class robosuite.models.bases.floating_legged_base.FloatingLeggedBase(idn=0)

Bases: MobileBaseModel

Dummy mobile base 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.bases.leg_base_model module

Defines the base class of all mobile bases

class robosuite.models.bases.leg_base_model.LegBaseModel(fname: str, idn=0)

Bases: RobotBaseModel

property default_base

property init_qpos

property naming_prefix

Generates a standardized prefix to prevent naming collisions

Returns:

Prefix unique to this model.

Return type:

str

robosuite.models.bases.mobile_base_model module

Defines the mobile base model

class robosuite.models.bases.mobile_base_model.MobileBaseModel(fname: str, idn=0)

Bases: RobotBaseModel

property naming_prefix

Generates a standardized prefix to prevent naming collisions

Returns:

Prefix unique to this model.

Return type:

str

robosuite.models.bases.mount_model module

Defines the MountModel class (Fixed Base that is mounted to the robot)

class robosuite.models.bases.mount_model.MountModel(fname: str, idn=0)

Bases: RobotBaseModel

property naming_prefix: str

Generates a standardized prefix to prevent naming collisions

Returns:

Prefix unique to this model.

Return type:

str

robosuite.models.bases.no_actuation_base module

Rethink’s Generic Mount (Officially used on Sawyer).

class robosuite.models.bases.no_actuation_base.NoActuationBase(idn=0)

Bases: MobileBaseModel

Dummy mobile base 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.bases.null_mobile_base module

Rethink’s Generic Mount (Officially used on Sawyer).

class robosuite.models.bases.null_mobile_base.NullMobileBase(idn=0)

Bases: MobileBaseModel

Dummy mobile base 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.bases.null_mount module

Rethink’s Generic Mount (Officially used on Sawyer).

class robosuite.models.bases.null_mount.NullMount(idn=0)

Bases: 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.bases.omron_mobile_base module

Omron LD-60 Mobile Base.

class robosuite.models.bases.omron_mobile_base.OmronMobileBase(idn=0)

Bases: MobileBaseModel

Omron LD-60 Mobile Base.

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.bases.rethink_minimal_mount module

Rethink’s Alternative Mount (Officially used on Baxter).

class robosuite.models.bases.rethink_minimal_mount.RethinkMinimalMount(idn=0)

Bases: 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.bases.rethink_mount module

Rethink’s Generic Mount (Officially used on Sawyer).

class robosuite.models.bases.rethink_mount.RethinkMount(idn=0)

Bases: 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

robosuite.models.bases.robot_base_factory module

Defines a string based method of initializing mounts

robosuite.models.bases.robot_base_factory.robot_base_factory(name: str | None, idn=0) → RobotBaseModel

Generator for grippers

Creates a RobotBaseModel 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:

e.g. MobileBaseModel, LegBaseModel, or MountModel instance

Return type:

RobotBaseModel class

Raises:

XMLError – [invalid XML]

robosuite.models.bases.robot_base_model module

Defines the base class of all mounts

class robosuite.models.bases.robot_base_model.RobotBaseModel(fname: str, idn=0)

Bases: 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: array

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: float

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: str

Generates a standardized prefix to prevent naming collisions

Returns:

Prefix unique to this model.

Return type:

str

property top_offset: array

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.bases.spot_base module

class robosuite.models.bases.spot_base.Spot(idn=0)

Bases: LegBaseModel

Rethink’s Generic Mount (Officially used on Baxter).

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 init_qpos

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

class robosuite.models.bases.spot_base.SpotFloating(idn=0)

Bases: LegBaseModel

Rethink’s Generic Mount (Officially used on Baxter).

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 init_qpos

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

Module contents

robosuite.models.bases.register_base(target_class)