rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.motion_lib#
1. Module Contents#
1.1. Classes#
1.2. Data#
1.3. API#
- rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.motion_lib.USE_CACHE = True#
- class rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.motion_lib.DeviceCache(obj, device)#
Initialization
- class rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.motion_lib.MotionLib(motion_file, dof_body_ids, dof_offsets, key_body_ids, device)#
Initialization
- Args:
motion_file: dof_body_ids: dof_offsets: key_body_ids: device:
- num_motions()#
- get_total_length()#
- get_motion(motion_id)#
- sample_motions(n)#
- sample_time(motion_ids, truncate_time=None)#
- get_motion_length(motion_ids)#
- get_object_pose(frame_id)#
Return object pose at frame=id, where id is recorded in motion_ids
- Args:
frame_id [list]: Same frame id * num_envs, where num_envs is the environment number.
Returns:
- get_motion_state(motion_ids, motion_times)#
- Args:
motion_ids: motion_times:
Returns: