Object Model ============ The ``MujocoObject`` class serves as a catch-all base class that is used to capture individual simulation objects to instantiate within a given simulation. This is done in one of two ways via extended classes -- the ``MujocoXMLObject`` reads in information from a corresponding object XML file, whereas the ``MujocoGeneratedObject`` proecedurally generates a custom object using a suite of utility mj modeling functions. In conjunction with the ``RobotModel``, and ``Arena`` classes, these classes serve as the basis for forming the higher level ``Task`` class which is used to ultimately generate the ``MjSim`` simulation object. Base Object Model ----------------- .. autoclass:: robosuite.models.objects.objects.MujocoObject .. automethod:: __init__ .. automethod:: merge_assets .. automethod:: get_obj .. automethod:: exclude_from_prefixing .. automethod:: _get_object_subtree .. automethod:: _get_object_properties .. autoproperty:: important_geoms .. autoproperty:: important_sites .. autoproperty:: important_sensors .. autoproperty:: get_site_attrib_template .. autoproperty:: get_joint_attrib_template XML Object Model ---------------- .. autoclass:: robosuite.models.objects.objects.MujocoXMLObject .. automethod:: __init__ .. automethod:: _duplicate_visual_from_collision .. automethod:: _get_geoms Generated Object Model ---------------------- .. autoclass:: robosuite.models.objects.objects.MujocoGeneratedObject .. automethod:: __init__ .. automethod:: sanity_check .. automethod:: get_collision_attrib_template .. automethod:: get_visual_attrib_template .. automethod:: append_material