storm_kit.mpc.rollout.arm_base module¶
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class
ArmBase
(exp_params, tensor_args={'device': 'cpu', 'dtype': torch.float32}, world_params=None)[source]¶ Bases:
storm_kit.mpc.rollout.rollout_base.RolloutBase
This rollout function is for reaching a cartesian pose for a robot
Todo: 1. Update exp_params to be kwargs
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rollout_fn
(start_state, act_seq)[source]¶ Return sequence of costs and states encountered by simulating a batch of action sequences
- Parameters
action_seq (torch.Tensor [num_particles, horizon, d_act]) –
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