storm_kit.mpc.rollout.arm_reacher module

class ArmReacher(exp_params, tensor_args={'device': 'cpu', 'dtype': torch.float32}, world_params=None)[source]

Bases: storm_kit.mpc.rollout.arm_base.ArmBase

This rollout function is for reaching a cartesian pose for a robot

Todo: 1. Update exp_params to be kwargs

cost_fn(state_dict, action_batch, no_coll=False, horizon_cost=True, return_dist=False)[source]
update_params(retract_state=None, goal_state=None, goal_ee_pos=None, goal_ee_rot=None, goal_ee_quat=None)[source]

Update params for the cost terms and dynamics model. goal_state: n_dofs goal_ee_pos: 3 goal_ee_rot: 3,3 goal_ee_quat: 4