robosuite.models.objects.group package

Submodules

robosuite.models.objects.group.transport module

class robosuite.models.objects.group.transport.TransportGroup(name, payload, trash, bin_size=(0.3, 0.3, 0.15))

Bases: ObjectGroup

Group of objects that capture transporting a payload placed in a start bin to a target bin, while also requiring a piece of trash to be removed from the target bin :param name: Name of that will the prepended to all geom bodies generated for this group :type name: str :param payload: Object that represents payload :type payload: MujocoObject :param trash: Object that represents trash :type trash: MujocoObject :param bin_size: (x,y,z) full size of bins to place on tables :type bin_size: 3-tuple

get_states()

Grabs all relevant information for this transport group. Returned dictionary maps keywords to corresponding values pulled from the current sim state. :returns: “lid_handle_pose”: list of (pos, quat) of lid handle

“payload_pose”: list of (pos, quat) of hammer handle “trash_pose”: list of (pos, quat) of trash object “target_bin_pos”: position of target bin (base geom) “trash_bin_pos”: position of trash bin (base geom) “trash_in_trash_bin”: True if trash object is touching the base of the trash bin “payload_in_target_bin”: True if payload object is touching the base of the target bin

Return type:

dict

property lid_handle_pos

Returns: np.array: (x,y,z) absolute position of the lid handle

property lid_handle_quat

Returns: np.array: (x,y,z,w) quaternion of the lid handle

property payload_in_target_bin

Returns: bool: True if payload is in target bin

property payload_pos

Returns: np.array: (x,y,z) absolute position of the payload

property payload_quat

Returns: np.array: (x,y,z,w) quaternion of the payload

property target_bin_pos

Returns: np.array: (x,y,z) absolute position of the target bin

property trash_bin_pos

Returns: np.array: (x,y,z) absolute position of the trash bin

property trash_in_trash_bin

Returns: bool: True if trash is in trash bin

property trash_pos

Returns: np.array: (x,y,z) absolute position of the trash

property trash_quat

Returns: np.array: (x,y,z,w) quaternion of the trash

update_sim(sim)

Updates internal reference to sim and all other references :param sim: Active mujoco sim reference :type sim: MjSim

Module contents