def __init__(self, table_full_size=(0.39, 0.49, 0.82), table_friction=(1, 0.005, 0.0001)): """ Args: table_full_size: full dimensions of the table friction: friction parameters of the table """ super().__init__(xml_path_completion("arenas/bins_arena.xml")) self.table_full_size = np.array(table_full_size) self.table_half_size = self.table_full_size / 2 self.table_friction = table_friction self.floor = self.worldbody.find("./geom[@name='floor']") self.bin1_body = self.worldbody.find("./body[@name='bin1']") self.bin2_body = self.worldbody.find("./body[@name='bin2']") self.configure_location()
def __init__(self, table_full_size=(0.8, 0.8, 0.8), table_friction=(1, 0.005, 0.0001)): """ Args: table_full_size: full dimensions of the table friction: friction parameters of the table """ super().__init__(xml_path_completion("arenas/table_arena.xml")) self.table_full_size = np.array(table_full_size) self.table_half_size = self.table_full_size / 2 self.table_friction = table_friction self.floor = self.worldbody.find("./geom[@name='floor']") self.table_body = self.worldbody.find("./body[@name='table']") self.table_collision = self.table_body.find( "./geom[@name='table_collision']") self.table_visual = self.table_body.find( "./geom[@name='table_visual']") self.table_top = self.table_body.find("./site[@name='table_top']") self.configure_location()
def __init__(self): super().__init__(xml_path_completion("objects/can-visual.xml"))
def __init__(self): super().__init__(xml_path_completion("objects/bottle.xml"))
def __init__(self): super().__init__(xml_path_completion("objects/round-nut.xml"))
def __init__(self): super().__init__(xml_path_completion("objects/lemon.xml"))
def __init__(self): super().__init__(xml_path_completion("objects/plate-with-hole.xml"))
def __init__(self): super().__init__(xml_path_completion("grippers/robotiq_gripper.xml"))
def __init__(self): super().__init__(xml_path_completion("robots/baxter/robot.xml")) self.bottom_offset = np.array([0, 0, -0.913]) self.left_hand = self.worldbody.find(".//body[@name='left_hand']")
def __init__(self): super().__init__(xml_path_completion("base.xml"))
def __init__(self): super().__init__(xml_path_completion("grippers/left_two_finger_gripper.xml"))
def __init__(self): super().__init__(xml_path_completion("robots/sawyer/robot.xml")) self.bottom_offset = np.array([0, 0, -0.913])
def __init__(self): super().__init__(xml_path_completion("arenas/empty_arena.xml")) self.floor = self.worldbody.find("./geom[@name='floor']")