text: #
  # MIT License
  #
  # Copyright (c) 2020-2021 NVIDIA CORPORATION.
  #
  # Permission is hereby granted, free of charge, to any person obtaining a
  # copy of this software and associated documentation files (the "Software"),
  # to deal in the Software without restriction, including without limitation
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  # and/or sell copies of the Software, and to permit persons to whom the
  # Software is furnished to do so, subject to the following conditions:
  #
  # The above copyright notice and this permission notice shall be included in
  # all copies or substantial portions of the Software.
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  # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
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  import torch
  import yaml
  import numpy as np
  
  from ...util_file import get_mpc_configs_path as mpc_configs_path
  from ...mpc.rollout.arm_reacher import ArmReacher
  from ...mpc.control import MPPI
  from ...mpc.utils.state_filter import JointStateFilter
  from ...mpc.utils.mpc_process_wrapper import ControlProcess
  from ...util_file import get_assets_path, join_path, load_yaml, get_gym_configs_path
  from .arm_task import ArmTask
  
  
  class ReacherTask(ArmTask):
      """
      .. inheritance-diagram:: ReacherTask
         :parts: 1
  
      """
      def __init__(self, task_file='ur10.yml', robot_file='ur10_reacher.yml', world_file='collision_env.yml', tensor_args={'device':"cpu", 'dtype':torch.float32}):
          
          super().__init__(task_file=task_file, robot_file=robot_file,
                           world_file=world_file, tensor_args=tensor_args)
  
      def get_rollout_fn(self, **kwargs):
          rollout_fn = ArmReacher(**kwargs)
          return rollout_fn
  
  