robosuite.models.robots.manipulators package#

Submodules#

robosuite.models.robots.manipulators.baxter_robot module#

class robosuite.models.robots.manipulators.baxter_robot.Baxter(idn=0)#

Bases: robosuite.models.robots.manipulators.manipulator_model.ManipulatorModel

Baxter is a hunky bimanual robot designed by Rethink Robotics.

Parameters

idn (int or str) – Number or some other unique identification string for this robot instance

property arm_type#

Type of robot arm. Should be either “bimanual” or “single” (or something else if it gets added in the future)

Returns

Type of robot

Return type

str

property base_xpos_offset#

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 manipulator arena case; i.e.: “bins”, “empty”, and “table”)

Returns

‘bins’

(x,y,z) robot offset if placed in bins arena

’empty’

(x,y,z) robot offset if placed in the empty arena

’table’

lambda function that takes in table_length and returns corresponding (x,y,z) offset if placed in the table arena

Return type

dict

property default_controller_config#

Since this is bimanual robot, returns dict with ‘right’, ‘left’ keywords corresponding to their respective values

Returns

Dictionary containing arm-specific default controller config names

Return type

dict

property default_gripper#

Since this is bimanual robot, returns dict with ‘right’, ‘left’ keywords corresponding to their respective values

Returns

Dictionary containing arm-specific gripper names

Return type

dict

property default_mount#

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

Returns

Default mount name to add to this robot

Return type

str

property init_qpos#

Since this is bimanual robot, returns [right, left] array corresponding to respective values

Note that this is a pose such that the arms are half extended

Returns

default initial qpos for the right, left arms

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

robosuite.models.robots.manipulators.iiwa_robot module#

class robosuite.models.robots.manipulators.iiwa_robot.IIWA(idn=0)#

Bases: robosuite.models.robots.manipulators.manipulator_model.ManipulatorModel

IIWA is a bright and spunky robot created by KUKA

Parameters

idn (int or str) – Number or some other unique identification string for this robot instance

property arm_type#

Type of robot arm. Should be either “bimanual” or “single” (or something else if it gets added in the future)

Returns

Type of robot

Return type

str

property base_xpos_offset#

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 manipulator arena case; i.e.: “bins”, “empty”, and “table”)

Returns

‘bins’

(x,y,z) robot offset if placed in bins arena

’empty’

(x,y,z) robot offset if placed in the empty arena

’table’

lambda function that takes in table_length and returns corresponding (x,y,z) offset if placed in the table arena

Return type

dict

property default_controller_config#

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

Returns

filename of default controller config for this robot

Return type

str

property default_gripper#

Defines the default gripper type for this robot that gets added to end effector

Returns

Default gripper name to add to this robot

Return type

str

property default_mount#

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

Returns

Default mount name to add to this robot

Return type

str

property init_qpos#

Defines the default rest qpos of this robot

Returns

Default init qpos of this robot

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

robosuite.models.robots.manipulators.jaco_robot module#

class robosuite.models.robots.manipulators.jaco_robot.Jaco(idn=0)#

Bases: robosuite.models.robots.manipulators.manipulator_model.ManipulatorModel

Jaco is a kind and assistive robot created by Kinova

Parameters

idn (int or str) – Number or some other unique identification string for this robot instance

property arm_type#

Type of robot arm. Should be either “bimanual” or “single” (or something else if it gets added in the future)

Returns

Type of robot

Return type

str

property base_xpos_offset#

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 manipulator arena case; i.e.: “bins”, “empty”, and “table”)

Returns

‘bins’

(x,y,z) robot offset if placed in bins arena

’empty’

(x,y,z) robot offset if placed in the empty arena

’table’

lambda function that takes in table_length and returns corresponding (x,y,z) offset if placed in the table arena

Return type

dict

property default_controller_config#

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

Returns

filename of default controller config for this robot

Return type

str

property default_gripper#

Defines the default gripper type for this robot that gets added to end effector

Returns

Default gripper name to add to this robot

Return type

str

property default_mount#

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

Returns

Default mount name to add to this robot

Return type

str

property init_qpos#

Defines the default rest qpos of this robot

Returns

Default init qpos of this robot

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

robosuite.models.robots.manipulators.kinova3_robot module#

class robosuite.models.robots.manipulators.kinova3_robot.Kinova3(idn=0)#

Bases: robosuite.models.robots.manipulators.manipulator_model.ManipulatorModel

The Gen3 robot is the sparkly newest addition to the Kinova line

Parameters

idn (int or str) – Number or some other unique identification string for this robot instance

property arm_type#

Type of robot arm. Should be either “bimanual” or “single” (or something else if it gets added in the future)

Returns

Type of robot

Return type

str

property base_xpos_offset#

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 manipulator arena case; i.e.: “bins”, “empty”, and “table”)

Returns

‘bins’

(x,y,z) robot offset if placed in bins arena

’empty’

(x,y,z) robot offset if placed in the empty arena

’table’

lambda function that takes in table_length and returns corresponding (x,y,z) offset if placed in the table arena

Return type

dict

property default_controller_config#

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

Returns

filename of default controller config for this robot

Return type

str

property default_gripper#

Defines the default gripper type for this robot that gets added to end effector

Returns

Default gripper name to add to this robot

Return type

str

property default_mount#

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

Returns

Default mount name to add to this robot

Return type

str

property init_qpos#

Defines the default rest qpos of this robot

Returns

Default init qpos of this robot

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

robosuite.models.robots.manipulators.manipulator_model module#

class robosuite.models.robots.manipulators.manipulator_model.ManipulatorModel(fname, idn=0)#

Bases: robosuite.models.robots.robot_model.RobotModel

Base class for all manipulator models (robot arm(s) with gripper(s)).

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_gripper(gripper, arm_name=None)#

Mounts @gripper to arm.

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

Parameters
  • gripper (GripperModel) – gripper MJCF model

  • arm_name (str) – name of arm mount – defaults to self.eef_name if not specified

Raises

ValueError – [Multiple grippers]

property arm_type#

Type of robot arm. Should be either “bimanual” or “single” (or something else if it gets added in the future)

Returns

Type of robot

Return type

str

property base_xpos_offset#

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 manipulator arena case; i.e.: “bins”, “empty”, and “table”)

Returns

‘bins’

(x,y,z) robot offset if placed in bins arena

’empty’

(x,y,z) robot offset if placed in the empty arena

’table’

lambda function that takes in table_length and returns corresponding (x,y,z) offset if placed in the table arena

Return type

dict

property default_controller_config#

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

Returns

filename of default controller config for this robot

Return type

str

property default_gripper#

Defines the default gripper type for this robot that gets added to end effector

Returns

Default gripper name to add to this robot

Return type

str

property default_mount#

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

Returns

Default mount name to add to this robot

Return type

str

property eef_name#

Returns: str or dict of str: Prefix-adjusted eef name for this robot. If bimanual robot, returns {“left”, “right”}

keyword-mapped eef names

property init_qpos#

Defines the default rest qpos of this robot

Returns

Default init qpos of this robot

Return type

np.array

property models#

Returns a list of all m(sub-)models owned by this robot model. By default, this includes the gripper model, if specified

Returns

models owned by this object

Return type

list

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

robosuite.models.robots.manipulators.panda_robot module#

class robosuite.models.robots.manipulators.panda_robot.Panda(idn=0)#

Bases: robosuite.models.robots.manipulators.manipulator_model.ManipulatorModel

Panda is a sensitive single-arm robot designed by Franka.

Parameters

idn (int or str) – Number or some other unique identification string for this robot instance

property arm_type#

Type of robot arm. Should be either “bimanual” or “single” (or something else if it gets added in the future)

Returns

Type of robot

Return type

str

property base_xpos_offset#

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 manipulator arena case; i.e.: “bins”, “empty”, and “table”)

Returns

‘bins’

(x,y,z) robot offset if placed in bins arena

’empty’

(x,y,z) robot offset if placed in the empty arena

’table’

lambda function that takes in table_length and returns corresponding (x,y,z) offset if placed in the table arena

Return type

dict

property default_controller_config#

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

Returns

filename of default controller config for this robot

Return type

str

property default_gripper#

Defines the default gripper type for this robot that gets added to end effector

Returns

Default gripper name to add to this robot

Return type

str

property default_mount#

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

Returns

Default mount name to add to this robot

Return type

str

property init_qpos#

Defines the default rest qpos of this robot

Returns

Default init qpos of this robot

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

robosuite.models.robots.manipulators.sawyer_robot module#

class robosuite.models.robots.manipulators.sawyer_robot.Sawyer(idn=0)#

Bases: robosuite.models.robots.manipulators.manipulator_model.ManipulatorModel

Sawyer is a witty single-arm robot designed by Rethink Robotics.

Parameters

idn (int or str) – Number or some other unique identification string for this robot instance

property arm_type#

Type of robot arm. Should be either “bimanual” or “single” (or something else if it gets added in the future)

Returns

Type of robot

Return type

str

property base_xpos_offset#

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 manipulator arena case; i.e.: “bins”, “empty”, and “table”)

Returns

‘bins’

(x,y,z) robot offset if placed in bins arena

’empty’

(x,y,z) robot offset if placed in the empty arena

’table’

lambda function that takes in table_length and returns corresponding (x,y,z) offset if placed in the table arena

Return type

dict

property default_controller_config#

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

Returns

filename of default controller config for this robot

Return type

str

property default_gripper#

Defines the default gripper type for this robot that gets added to end effector

Returns

Default gripper name to add to this robot

Return type

str

property default_mount#

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

Returns

Default mount name to add to this robot

Return type

str

property init_qpos#

Defines the default rest qpos of this robot

Returns

Default init qpos of this robot

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

robosuite.models.robots.manipulators.ur5e_robot module#

class robosuite.models.robots.manipulators.ur5e_robot.UR5e(idn=0)#

Bases: robosuite.models.robots.manipulators.manipulator_model.ManipulatorModel

UR5e is a sleek and elegant new robot created by Universal Robots

Parameters

idn (int or str) – Number or some other unique identification string for this robot instance

property arm_type#

Type of robot arm. Should be either “bimanual” or “single” (or something else if it gets added in the future)

Returns

Type of robot

Return type

str

property base_xpos_offset#

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 manipulator arena case; i.e.: “bins”, “empty”, and “table”)

Returns

‘bins’

(x,y,z) robot offset if placed in bins arena

’empty’

(x,y,z) robot offset if placed in the empty arena

’table’

lambda function that takes in table_length and returns corresponding (x,y,z) offset if placed in the table arena

Return type

dict

property default_controller_config#

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

Returns

filename of default controller config for this robot

Return type

str

property default_gripper#

Defines the default gripper type for this robot that gets added to end effector

Returns

Default gripper name to add to this robot

Return type

str

property default_mount#

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

Returns

Default mount name to add to this robot

Return type

str

property init_qpos#

Defines the default rest qpos of this robot

Returns

Default init qpos of this robot

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

Module contents#