grutopia.core.task

task

class grutopia.core.task.task.BaseTask(config: TaskUserConfig, scene: Scene)

wrap of omniverse isaac sim’s base task

• enable register for auto register task

• contains robots

calculate_metrics() → dict

[summary]

Raises:

NotImplementedError – [description]

get_observations() → Dict[str, Any]

Returns current observations from the objects needed for the behavioral layer.

Returns:

observation of robots in this task

Return type:

Dict[str, Any]

individual_reset()

reload this task individually without reloading whole world.

abstract is_done() → bool

Returns True of the task is done.

Raises:

NotImplementedError – this must be overridden.

post_reset() → None

Calls while doing a .reset() on the world.

pre_step(time_step_index: int, simulation_time: float) → None

called before stepping the physics simulation.

Parameters:

• time_step_index (int) – [description]

• simulation_time (float) – [description]

classmethod register(name: str)

Register a task with its name(decorator). :param name: name of the task :type name: str

set_up_scene(scene: Scene) → None

Adding assets to the stage as well as adding the encapsulated objects such as XFormPrim..etc

to the task_objects happens here.

Parameters:

scene (Scene) – [description]