robosuite_models

A collection of robot models tailored to robosuite.

This repository also provide examples of how to create a custom composable robot model with robosuite.

See compositional.py: how to compose a new robot model.

Robot Model	Names
RobotBaseModel	aloha_mount, b1_base, go2_base
GripperModel	ability_hands, aloha_gripper, g1_three_finger_gripper, pr2_gripper, schunk_svh_hands, umi_gripper, yumi_gripper, z1_gripper
ManipulatorModel	aloha_robot, arx5_robot, g1_robot, h1_robot, pr2_robot, vx330s_robot, yumi_robot, z1_robot

Example code:

from robosuite.robots import register_robot_class
from robosuite.models.robots import Panda
import robosuite as suite
from robosuite.controllers import load_composite_controller_config
import mujoco


@register_robot_class("WheeledRobot")
class MobilePanda(Panda):
    @property
    def default_base(self):
        return "OmronMobileBase"

    @property
    def default_arms(self):
        return {"right": "Panda"}

# Create environment
env = suite.make(
    env_name="Lift",
    robots="MobilePanda",
    controller_configs=load_composite_controller_config(controller="BASIC"),
    has_renderer=True,
    has_offscreen_renderer=False,
    render_camera="agentview",
    use_camera_obs=False,
    control_freq=20,
)

# Run the simulation, and visualize it
env.reset()
mujoco.viewer.launch(env.sim.model._model, env.sim.data._data)

Example

To load a robot model to see what it looks like, you can use the following command:

python examples/load_compositional_robot_example.py --robots UR5eOmron  --controller BASIC

Contributing

Run pre-commit run --all-files before open a pull request.