Subpackages#

Submodules#

robosuite.models.robots.robot_model module#

class robosuite.models.robots.robot_model.RobotModel(fname: str, idn=0)#

Bases: MujocoXMLModel

Base 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_base(base: RobotBaseModel)#

Mounts a base to the robot. Bases are defined in robosuite.models.bases

add_leg_base(leg_base: LegBaseModel)#

Mounts @mobile_base to arm.

Throws error if robot already has a mobile base or if mobile base type is incorrect.

Parameters:

base (mobile) – mount MJCF model

Raises:

ValueError – [mobile base already added]

add_mobile_base(mobile_base: MobileBaseModel)#

Mounts @mobile_base to arm.

Throws error if robot already has a mobile base or if mobile base type is incorrect.

Parameters:

base (mobile) – mount MJCF model

Raises:

ValueError – [mobile base already added]

add_mount(mount: MountModel)#

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 all_actuators: List#

Returns: list: (Default is no actuators; i.e.: empty list)

property all_joints: List#

Returns: list: (Default is no joints; i.e.: empty list)

property base_xpos_offset: Dict[str, ndarray]#

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: ndarray#

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_base: str#

Defines the default mount type for this robot that gets added to root body (base)

Returns:

Default base name to add to this robot

Return type:

str

property default_controller_config: Dict[str, str]#

Defines the name of default controller config file in the controllers/config directory for this robot.

Returns:

Dictionary containing arm-specific default controller config names

e.g.: {“right”: “default_panda”, “left”: “default_panda”}

Return type:

dict

property dof: int#

Defines the number of DOF of the robot

Returns:

robot DOF

Return type:

int

property horizontal_radius: float#

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: ndarray#

Defines the default rest qpos of this robot

Returns:

Default init qpos of this robot

Return type:

np.array

property models: List[MujocoXMLModel]#

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: str#

Generates a standardized prefix to prevent naming collisions

Returns:

Prefix unique to this model.

Return type:

str

set_base_ori(rot: ndarray)#

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: ndarray)#

Places the robot on position @pos.

Parameters:

pos (3-array) – (x,y,z) position to place robot base

set_joint_attribute(attrib: str, values: ndarray, 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]

set_mujoco_model(mujoco_model: MjModel | None = None)#

property top_offset: ndarray#

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: type

Metaclass 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:

Robot

Raises:

Exception – [Invalid robot name]

robosuite.models.robots.robot_model.register_robot(target_class)#

Module contents#

robosuite.models.robots.is_robosuite_robot(robot: str) → bool#

robot is robosuite repo robot if can import robot class from robosuite.models.robots