storm_kit.mpc.task.arm_task module

class ArmTask(task_file='ur10.yml', robot_file='ur10_reacher.yml', world_file='collision_env.yml', tensor_args={'device': 'cpu', 'dtype': torch.float32})[source]

Bases: storm_kit.mpc.task.task_base.BaseTask

get_rollout_fn(**kwargs)[source]
init_mppi(task_file, robot_file, collision_file)[source]