Robot

BaseRobot

class gibson2.core.physics.robot_bases.BaseRobot(model_file, base_name=None, scale=1, self_collision=False)

Base class for mujoco xml/ROS urdf based agents. Handles object loading

__init__(model_file, base_name=None, scale=1, self_collision=False)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

load()

Load the robot model into pybullet :return: body id in pybullet

parse_robot(bodies)

Parse the robot to get properties including joint information and mass :param bodies: body ids in pybullet :return: parts, joints, ordered_joints, robot_body, robot_mass

BodyPart

class gibson2.core.physics.robot_bases.BodyPart(body_name, bodies, body_index, body_part_index)
__init__(body_name, bodies, body_index, body_part_index)

Initialize self. See help(type(self)) for accurate signature.

Joint

class gibson2.core.physics.robot_bases.Joint(joint_name, bodies, body_index, joint_index)
__init__(joint_name, bodies, body_index, joint_index)

Initialize self. See help(type(self)) for accurate signature.

LocomotorRobot

class gibson2.core.physics.robot_locomotors.LocomotorRobot(filename, action_dim, base_name=None, scale=1.0, control='torque', is_discrete=True, torque_coef=1.0, velocity_coef=1.0, self_collision=False)

Built on top of BaseRobot

__init__(filename, action_dim, base_name=None, scale=1.0, control='torque', is_discrete=True, torque_coef=1.0, velocity_coef=1.0, self_collision=False)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

Robot Implemtations

Ant

class gibson2.core.physics.robot_locomotors.Ant(config)
__init__(config)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

Humanoid

class gibson2.core.physics.robot_locomotors.Humanoid(config)
__init__(config)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

Husky

class gibson2.core.physics.robot_locomotors.Husky(config)
__init__(config)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

Quadrotor

class gibson2.core.physics.robot_locomotors.Quadrotor(config)
__init__(config)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

Turtlebot

class gibson2.core.physics.robot_locomotors.Turtlebot(config)
__init__(config)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

Freight

class gibson2.core.physics.robot_locomotors.Freight(config)
__init__(config)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

Fetch

class gibson2.core.physics.robot_locomotors.Fetch(config)
__init__(config)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

JR2

class gibson2.core.physics.robot_locomotors.JR2(config)
__init__(config)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

JR2_Kinova

class gibson2.core.physics.robot_locomotors.JR2_Kinova(config)
__init__(config)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not

Locobot

class gibson2.core.physics.robot_locomotors.Locobot(config)
__init__(config)
Parameters

  • model_file – model filename

  • base_name – name of the base link

  • scale – scale, default to 1

  • self_collision – use self collision or not