visualizers.viser_app.tasks.spot.spot_hand_navigation#

Module Contents#

class visualizers.viser_app.tasks.spot.spot_hand_navigation.SpotHandNavigationConfig#

Bases: jacta.visualizers.viser_app.tasks.spot_base.SpotBaseConfig

Config for the spot box manipulation task. .. py:attribute:: default_command

type:

numpy.ndarray

goal_position: numpy.ndarray#
class visualizers.viser_app.tasks.spot.spot_hand_navigation.SpotHandNavigation#

Bases: jacta.visualizers.viser_app.tasks.spot_base.SpotBase[SpotHandNavigationConfig]

Task getting Spot to navigate to a desired goal location. .. py:property:: nu

type:

int

Number of controls for this task.

property actuator_ctrlrange: numpy.ndarray#

Control bounds for this task.

Return type:

numpy.ndarray

reward(states: numpy.ndarray, sensors: numpy.ndarray, controls: numpy.ndarray, config: SpotHandNavigationConfig, additional_info: dict[str, Any]) → numpy.ndarray#

Reward function for the Spot navigation task.

Parameters:

  • states (numpy.ndarray) –

  • sensors (numpy.ndarray) –

  • controls (numpy.ndarray) –

  • config (SpotHandNavigationConfig) –

  • additional_info (dict[str, Any]) –

Return type:

numpy.ndarray

reset() → None#

Reset function for the spot navigation task .

Return type:

None