factory_schema_class_task.py

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"""Factory: abstract base class for task classes.

Inherits ABC class. Inherited by task classes. Defines template for task classes.
"""

from abc import ABC, abstractmethod


class FactoryABCTask(ABC):

    @abstractmethod
    def __init__(self):
        """Initialize instance variables. Initialize environment superclass."""
        pass

    @abstractmethod
    def _get_task_yaml_params(self):
        """Initialize instance variables from YAML files."""
        pass

    @abstractmethod
    def _acquire_task_tensors(self):
        """Acquire tensors."""
        pass

    @abstractmethod
    def _refresh_task_tensors(self):
        """Refresh tensors."""
        pass

    @abstractmethod
    def pre_physics_step(self):
        """Reset environments. Apply actions from policy as controller targets. Simulation step called after this method."""
        pass

    @abstractmethod
    def post_physics_step(self):
        """Step buffers. Refresh tensors. Compute observations and reward."""
        pass

    @abstractmethod
    def compute_observations(self):
        """Compute observations."""
        pass

    @abstractmethod
    def compute_reward(self):
        """Detect successes and failures. Update reward and reset buffers."""
        pass

    @abstractmethod
    def _update_rew_buf(self):
        """Compute reward at current timestep."""
        pass

    @abstractmethod
    def _update_reset_buf(self):
        """Assign environments for reset if successful or failed."""
        pass

    @abstractmethod
    def reset_idx(self):
        """Reset specified environments."""
        pass

    @abstractmethod
    def _reset_franka(self):
        """Reset DOF states and DOF targets of Franka."""
        pass

    @abstractmethod
    def _reset_object(self):
        """Reset root state of object."""
        pass

    @abstractmethod
    def _reset_buffers(self):
        """Reset buffers."""
        pass

    @abstractmethod
    def _set_viewer_params(self):
        """Set viewer parameters."""
        pass