robosuite.models.tasks package

robosuite.models.tasks package#

Submodules#

robosuite.models.tasks.manipulation_task module#

class robosuite.models.tasks.manipulation_task.ManipulationTask(mujoco_arena, mujoco_robots, mujoco_objects=None)#

Bases: Task

A manipulation-specific task. This is currently a future-proofing placeholder.

robosuite.models.tasks.task module#

class robosuite.models.tasks.task.Task(mujoco_arena, mujoco_robots, mujoco_objects=None)#

Bases: MujocoWorldBase

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]

property classes_to_ids#

Returns: dict: Mapping from specific classes to {geom, site} IDs in sim

generate_id_mappings(sim)#

Generates IDs mapping class instances to set of (visual) geom IDs corresponding to that class instance

Parameters:

sim (MjSim) – Current active mujoco simulation object

property geom_ids_to_classes#

Returns: dict: Mapping from geom IDs in sim to specific classes

property geom_ids_to_instances#

Returns: dict: Mapping from geom IDs in sim to specific class instance names

property instances_to_ids#

Returns: dict: Mapping from specific class instance names to {geom, site} IDs in sim

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

merge_robot(mujoco_robot)#

Adds robot model to the MJCF model.

Parameters:

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

property site_ids_to_classes#

Returns: dict: Mapping from site IDs in sim to specific classes

property site_ids_to_instances#

Returns: dict: Mapping from site IDs in sim to specific class instance names

Module contents#