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The ``MujocoEnv`` class defines a top-level simulation object encapsulating a ``MjSim`` object. Robosuite uses
class extensions of this base class, namely, ``RobotEnv`` which additionally encompasses ``Robot`` objects and the top-level
task environments which capture specific ``ManipulationTask`` instances and additional objects.
Base Environment
----------------
.. autoclass:: robosuite.environments.base.MujocoEnv
.. automethod:: initialize_time
.. automethod:: reset
.. automethod:: step
.. automethod:: reward
.. automethod:: render
.. automethod:: observation_spec
.. automethod:: clear_objects
.. automethod:: visualize
.. automethod:: reset_from_xml_string
.. automethod:: check_contact
.. automethod:: get_contacts
.. automethod:: modify_observable
.. automethod:: close
.. autoproperty:: observation_modalities
.. autoproperty:: observation_names
.. autoproperty:: enabled_observables
.. autoproperty:: active_observables
.. autoproperty:: action_spec
.. autoproperty:: action_dim
Robot Environment
-----------------
.. autoclass:: robosuite.environments.robot_env.RobotEnv
.. automethod:: _load_robots
.. automethod:: _check_robot_configuration
Manipulator Environment
-----------------------
.. autoclass:: robosuite.environments.manipulation.manipulation_env.ManipulationEnv
.. automethod:: _check_grasp
.. automethod:: _gripper_to_target
.. automethod:: _visualize_gripper_to_target |