Base Task#

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.

Parameters:

• mujoco_arena (Arena) – MJCF model of robot workspace

• mujoco_robots (RobotModel or list of RobotModel) – MJCF model of robot model(s) (list)

• mujoco_objects (None or MujocoObject or list of MujocoObject) – a list of MJCF models of physical objects

Raises:

AssertionError – [Invalid input object type]

__init__(mujoco_arena, mujoco_robots, mujoco_objects=None)#

merge_robot(mujoco_robot)#

Adds robot model to the MJCF model.

Parameters:

mujoco_robot (RobotModel) – robot to merge into this MJCF model

merge_arena(mujoco_arena)#

Adds arena model to the MJCF model.

Parameters:

mujoco_arena (Arena) – arena to merge into this MJCF model

merge_objects(mujoco_objects)#

Adds object models to the MJCF model.

Parameters:

mujoco_objects (list of MujocoObject) – objects to merge into this MJCF model