Task
- class panda_gym.envs.core.Task(sim: PyBullet)
Base class for tasks. :param sim: Simulation instance. :type sim: PyBullet
- abstract compute_reward(achieved_goal: ndarray, desired_goal: ndarray, info: Dict[str, Any] = {}) ndarray
Compute reward associated to the achieved and the desired goal.
- abstract get_achieved_goal() ndarray
Return the achieved goal.
- get_goal() ndarray
Return the current goal.
- abstract get_obs() ndarray
Return the observation associated to the task.
- abstract is_success(achieved_goal: ndarray, desired_goal: ndarray, info: Dict[str, Any] = {}) ndarray
Returns whether the achieved goal match the desired goal.
- abstract reset() None
Reset the task: sample a new goal.