---

name: modeling description: "Build and extend robosuite MJCF worlds, tasks, objects, arenas, custom environments, and robot assets." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Modeling

Use this sub-skill when the change is about robosuite model construction rather than runtime policy or camera math.

Use for

• custom environments built from MujocoWorldBase, Arena / TableArena, Task / ManipulationTask, and MujocoObject
• custom robot or gripper XML assets, body-part naming, mounts, and end-effector attachment checks
• MJCF compilation, inspection, and asset-path validation
• model-focused maintainer test selection and validation guidance

Do not use for

• controller config and action-space semantics; use ../controllers
• camera observations, camera transforms, or rendering checks; use ../rendering
• routine environment usage that does not change model structure
• teleoperation data and playback

Read next

• references/custom-environments.md
• references/mjcf-modeling.md
• references/maintainer-testing.md
• references/troubleshooting.md
• scripts/compile_mjcf_model.py
• scripts/check_custom_robot_model.py

Typical outputs

• a ManipulationEnv subclass for a new task
• a custom MujocoXMLObject, MujocoGeneratedObject, or MujocoObject
• a new arena, table setup, or manipulation task composition
• a robot or gripper XML fix that preserves joint order, mount bodies, and naming conventions

Working pattern

1. Start from the smallest MJCF world or task that reproduces the change.
2. Use the bundled compile helper on any edited XML.
3. Use the bundled robot checker for custom robot XML or registered robots.
4. Run the narrowest maintainer tests listed in references/maintainer-testing.md.
5. If the issue is camera/viewer-specific, hand it to ../rendering instead of widening modeling scope.

Cross-links

• ../controllers for robot composition, grippers, and controller configs
• ../rendering for image observations, camera transforms, and display-dependent viewer debugging