visualizers.viser_app.tasks.spot.spot_tire#

Module Contents#

visualizers.viser_app.tasks.spot.spot_tire.TIRE_HEIGHT: float = 0.515#
visualizers.viser_app.tasks.spot.spot_tire.TIRE_GOAL#
visualizers.viser_app.tasks.spot.spot_tire.RESET_OBJECT_POSE#
visualizers.viser_app.tasks.spot.spot_tire.Z_AXIS#
class visualizers.viser_app.tasks.spot.spot_tire.SpotTireConfig#

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

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

type:

numpy.ndarray

goal_position: numpy.ndarray#
goal_tire_pos: numpy.ndarray#
fall_penalty: float = 5000.0#
tire_fallen_threshold: float = 0.1#
w_torso_proximity: float = 1.0#
torso_goal_offset: float = 1.0#
w_gripper_proximity: float = 1.0#
gripper_goal_offset: float = 0.15#
gripper_goal_altitude: float = 0.05#
w_tire_linear_velocity: float = 10.0#
w_tire_angular_velocity: float = 0.3#
w_leg_proximity: float = 100.0#
class visualizers.viser_app.tasks.spot.spot_tire.SpotTire#

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

Task getting Spot to move a tire 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: SpotTireConfig, additional_info: dict[str, Any]) → numpy.ndarray#

Reward function for the Spot box moving task.

Parameters:

  • states (numpy.ndarray) –

  • sensors (numpy.ndarray) –

  • controls (numpy.ndarray) –

  • config (SpotTireConfig) –

  • additional_info (dict[str, Any]) –

Return type:

numpy.ndarray

reset() → None#

Reset function for the spot tire manipulation task .

Return type:

None