Task class is responsible for integrating a given
RobotModel, and set of
MujocoObjects into a single element tree that is then parsed and converted into an
- class robosuite.models.tasks.task.Task(mujoco_arena, mujoco_robots, mujoco_objects=None)#
Creates MJCF model for a task performed.
A task consists of one or more robots interacting with a variable number of objects. This class combines the robot(s), the arena, and the objects into a single MJCF model.
AssertionError – [Invalid input object type]
- __init__(mujoco_arena, mujoco_robots, mujoco_objects=None)#
Adds robot model to the MJCF model.
mujoco_robot (RobotModel) – robot to merge into this MJCF model
Adds arena model to the MJCF model.
mujoco_arena (Arena) – arena to merge into this MJCF model
Adds object models to the MJCF model.
mujoco_objects (list of MujocoObject) – objects to merge into this MJCF model