rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal_terrain#
1. Module Contents#
1.1. Classes#
1.2. Functions#
1.3. API#
- class rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal_terrain.AnymalTerrain(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)#
Bases:
rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask- create_sim()#
- check_termination()#
- compute_observations()#
- compute_reward()#
- reset_idx(env_ids)#
- update_terrain_level(env_ids)#
- push_robots()#
- pre_physics_step(actions)#
- post_physics_step()#
- init_height_points()#
- get_heights(env_ids=None)#
- class rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal_terrain.Terrain(cfg, num_robots)#
Initialization
- randomized_terrain()#
- curiculum(num_robots, num_terrains, num_levels)#
- rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal_terrain.quat_apply_yaw(quat, vec)#
- rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal_terrain.wrap_to_pi(angles)#