robosuite.models.robots.manipulators package
Contents
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