Source code for storm_kit.mpc.task.reacher_task

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import torch
import yaml
import numpy as np

from ...util_file import get_mpc_configs_path as mpc_configs_path
from ...mpc.rollout.arm_reacher import ArmReacher
from ...mpc.control import MPPI
from ...mpc.utils.state_filter import JointStateFilter
from ...mpc.utils.mpc_process_wrapper import ControlProcess
from ...util_file import get_assets_path, join_path, load_yaml, get_gym_configs_path
from .arm_task import ArmTask


[docs]class ReacherTask(ArmTask): """ .. inheritance-diagram:: ReacherTask :parts: 1 """ def __init__(self, task_file='ur10.yml', robot_file='ur10_reacher.yml', world_file='collision_env.yml', tensor_args={'device':"cpu", 'dtype':torch.float32}): super().__init__(task_file=task_file, robot_file=robot_file, world_file=world_file, tensor_args=tensor_args)
[docs] def get_rollout_fn(self, **kwargs): rollout_fn = ArmReacher(**kwargs) return rollout_fn