def load_model(self):
"""
Loads robot and optionally add grippers.
"""
# First, run the superclass method to load the relevant model
super().load_model()
# Verify that the loaded model is of the correct type for this robot
if self.robot_model.arm_type != "single":
raise TypeError(
"Error loading robot model: Incompatible arm type specified for this robot. "
"Requested model arm type: {}, robot arm type: {}".format(
self.robot_model.arm_type, type(self)))
# Now, load the gripper if necessary
if self.has_gripper:
if self.gripper_type == "default":
# Load the default gripper from the robot file
self.gripper = gripper_factory(
self.robot_model.default_gripper, idn=self.idn)
else:
# Load user-specified gripper
self.gripper = gripper_factory(self.gripper_type, idn=self.idn)
else:
# Load null gripper
self.gripper = gripper_factory(None, idn=self.idn)
# Grab eef rotation offset
self.eef_rot_offset = T.quat_multiply(
self.robot_model.hand_rotation_offset,
self.gripper.rotation_offset)
# Add gripper to this robot model
self.robot_model.add_gripper(self.gripper)
def _load_model(self):
# replace BaxterEnv _load_model call with custom robot
MujocoEnv._load_model(self)
self.mujoco_robot = BaxterRobot()
if self.has_gripper_right:
self.gripper_right = gripper_factory(self.gripper_right_name)
if not self.gripper_visualization:
self.gripper_right.hide_visualization()
self.mujoco_robot.add_gripper("right_hand", self.gripper_right)
if self.has_gripper_left:
self.gripper_left = gripper_factory(self.gripper_left_name)
if not self.gripper_visualization:
self.gripper_left.hide_visualization()
self.mujoco_robot.add_gripper("left_hand", self.gripper_left)
self.mujoco_robot.set_base_xpos([0, 0, 0])
# load model for table top workspace
self.mujoco_arena = BinsArena(table_full_size=self.table_full_size,
table_friction=self.table_friction)
if self.use_indicator_object:
self.mujoco_arena.add_pos_indicator()
# The sawyer robot has a pedestal, we want to align it with the table
self.mujoco_arena.set_origin([.5, -0.4, 0])
self.ob_inits = [MilkObject, BreadObject, CerealObject, CanObject]
self.item_names = ["Milk", "Bread", "Cereal", "Can"]
self.item_names_org = list(self.item_names)
self.obj_to_use = (self.item_names[0] + "{}").format(0)
lst = []
for i in range(len(self.ob_inits)):
ob = self.ob_inits[i]()
lst.append((str(self.item_names[i]) + "0", ob))
self.mujoco_objects = OrderedDict(lst)
self.n_objects = len(self.mujoco_objects)
# task includes arena, robot, and objects of interest
self.model = PickPlaceTask(
self.mujoco_arena,
self.mujoco_robot,
self.mujoco_objects,
[],
)
self.model.place_objects()
self.model.place_visual()
self.bin_pos = string_to_array(self.model.bin2_body.get("pos"))
self.bin_size = self.model.bin_size
def _load_model(self):
"""Loads robot and optionally add grippers."""
super()._load_model()
self.mujoco_robot = Baxter()
if self.has_gripper_right:
self.gripper_right = gripper_factory(self.gripper_right_name)
if not self.gripper_visualization:
self.gripper_right.hide_visualization()
self.mujoco_robot.add_gripper("right_hand", self.gripper_right)
if self.has_gripper_left:
self.gripper_left = gripper_factory(self.gripper_left_name)
if not self.gripper_visualization:
self.gripper_left.hide_visualization()
self.mujoco_robot.add_gripper("left_hand", self.gripper_left)
def load_model(self):
"""
Loads robot and optionally add grippers.
"""
# First, run the superclass method to load the relevant model
super().load_model()
# Verify that the loaded model is of the correct type for this robot
if self.robot_model.arm_type != "bimanual":
raise TypeError(
"Error loading robot model: Incompatible arm type specified for this robot. "
"Requested model arm type: {}, robot arm type: {}".format(
self.robot_model.arm_type, type(self)))
# Now, load the gripper if necessary
for arm in self.arms:
if self.has_gripper[arm]:
if self.gripper_type[arm] == 'default':
# Load the default gripper from the robot file
self.gripper[arm] = gripper_factory(
self.robot_model.gripper[arm],
idn="_".join((str(self.idn), arm)))
else:
# Load user-specified gripper
self.gripper[arm] = gripper_factory(self.gripper_type[arm],
idn="_".join(
(str(self.idn),
arm)))
else:
# Load null gripper
self.gripper[arm] = gripper_factory(None,
idn="_".join(
(str(self.idn), arm)))
# Grab eef rotation offset
self.eef_rot_offset[arm] = T.quat_multiply(
self.robot_model.hand_rotation_offset[arm],
self.gripper[arm].rotation_offset)
# Use gripper visualization if necessary
if not self.gripper_visualization[arm]:
self.gripper[arm].hide_visualization()
self.robot_model.add_gripper(self.gripper[arm],
self.robot_model.eef_name[arm])
def _load_model(self):
"""
Loads robot and optionally add grippers.
"""
super()._load_model()
self.mujoco_robot = Sawyer()
if self.has_gripper:
self.gripper = gripper_factory(self.gripper_type)
if not self.gripper_visualization:
self.gripper.hide_visualization()
self.mujoco_robot.add_gripper("right_hand", self.gripper)
from robosuite.models import MujocoWorldBase
world = MujocoWorldBase()
from robosuite.models.robots import Panda
mujoco_robot = Panda()
from robosuite.models.grippers import gripper_factory
gripper = gripper_factory('PandaGripper')
# gripper.hide_visualization() # this doesnt work
mujoco_robot.add_gripper(gripper)
mujoco_robot.set_base_xpos([0, 0, 0])
world.merge(mujoco_robot)
from robosuite.models.arenas import TableArena
mujoco_arena = TableArena()
mujoco_arena.set_origin([0.8, 0, 0])
world.merge(mujoco_arena)
from robosuite.models.objects import BallObject
from robosuite.utils.mjcf_utils import new_joint
sphere = BallObject(name="sphere", size=[0.04], rgba=[0, 0.5, 0.5,
1]).get_obj()
sphere.set('pos', '1.0 0 1.0')
world.worldbody.append(sphere)
import robosuite as suite
from robosuite.models import MujocoWorldBase
from robosuite.models.robots import UR5e
from robosuite.models.grippers import gripper_factory
from robosuite.models.arenas import EmptyArena
from mujoco_py import MjSim, MjViewer
world = MujocoWorldBase()
ur5 = UR5e()
gripper = gripper_factory("RobotiqThreeFingerDexterousGripper")
ur5.add_gripper(gripper)
ur5.set_base_xpos([0,0,0])
world.merge(ur5)
arena = EmptyArena()
world.merge(arena)
model = world.get_model()
sim = MjSim(model)
viewer = MjViewer(sim)
while True:
viewer.render()