Implementation:Haosulab ManiSkill GoogleRobot
| Knowledge Sources | |
|---|---|
| Domains | Robotics, Simulation, Manipulation |
| Last Updated | 2026-02-15 08:00 GMT |
Overview
Concrete tool for simulating the Google Robot in ManiSkill environments.
Description
The GoogleRobot is a minimal robot agent definition (31 lines) that loads a URDF model of the Google mobile manipulator. It has an overhead camera sensor configured with 640x512 resolution and a custom intrinsic matrix (fx=425.0, fy=413.1, cx=305.0, cy=233.0) mounted on link_camera. The URDF config is empty, relying on defaults. No controller configs or keyframes are defined in the file -- they are inherited from BaseAgent. This is a work-in-progress robot model; the source contains a TODO note about adding a mobile base and proper real2sim modeling.
uid: googlerobot
URDF path: {ASSET_DIR}/robots/googlerobot/google_robot_meta_sim_fix_fingertip.urdf
Supported control modes: (inherited from BaseAgent defaults)
Usage
Use GoogleRobot for real2sim transfer experiments that replicate the Google Robot hardware. The camera is configured with real-world intrinsic parameters for visual policy transfer. Primarily used for simulation of Google's manipulation research platform.
Code Reference
Source Location
- Repository: Haosulab_ManiSkill
- File: mani_skill/agents/robots/googlerobot/googlerobot.py
Signature
@register_agent(asset_download_ids=["googlerobot"])
class GoogleRobot(BaseAgent):
uid = "googlerobot"
urdf_path = f"{ASSET_DIR}/robots/googlerobot/google_robot_meta_sim_fix_fingertip.urdf"
urdf_config = dict()
Import
from mani_skill.agents.robots.googlerobot.googlerobot import GoogleRobot
I/O Contract
Inputs
| Name | Type | Required | Description |
|---|---|---|---|
| (inherited from BaseAgent) |
Outputs
| Name | Type | Description |
|---|---|---|
| robot agent | GoogleRobot | Configured robot with overhead camera sensor using real-world intrinsics |
Usage Examples
Creating Environment with Robot
import gymnasium as gym
import mani_skill.envs
env = gym.make("PickCube-v1", robot_uids="googlerobot")
obs, info = env.reset()