docs/modeling/object_model.rst

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