rostok.criterion.criterion_calculation

Classes

Criterion()
FinalPositionCriterion(reference_distance, ...)	Criterion based on the position change after applying testing force.
ForceCriterion(event_timeout_builder)	Reward based on the mean force of the robot and object contact.
GraspTimeCriterion(grasp_event_builder, ...)	Criterion based on the time before grasp.
InstantContactingLinkCriterion(...)	Criterion based on the percentage of contacting links.
InstantForceCriterion(grasp_event_builder)	Criterion based on the std of force modules.
InstantObjectCOGCriterion(grasp_event_builder)	Reward based on the distance between object COG and force centroid.
SimulationReward([verbosity])	Aggregate criterions and weights to calculate reward.
TimeCriterion(time, event_timeout_builder, ...)	Reward based on the time simulation if the grasp doesn't happen.