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