rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi
#
1. Module Contents#
1.1. Classes#
1.2. Functions#
1.3. Data#
1.4. API#
- rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.PERTURB_OBJS = [['small', 60]]#
- class rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.Humanoid_SMPLX(cfg, sim_params, physics_engine, device_type, device_id, headless)[source]#
Bases:
rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask
Initialization
- class rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.PhysHOI_BallPlay(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)[source]#
Bases:
rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.Humanoid_SMPLX
Initialization
- rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.build_hoi_observations(root_pos, root_rot, root_vel, root_ang_vel, dof_pos, dof_vel, key_body_pos, local_root_obs, root_height_obs, dof_obs_size, target_states, dof_diffvel)[source]#
- rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.compute_obj_observations(root_states: Tensor, tar_states: Tensor) Tensor [source]#
- rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.compute_humanoid_observations_max(body_pos: Tensor, body_rot: Tensor, body_vel: Tensor, body_ang_vel: Tensor, local_root_obs: bool, root_height_obs: bool, contact_forces: Tensor, contact_body_ids: Tensor) Tensor #
- rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.compute_humanoid_reward(hoi_ref: Tensor, hoi_obs: Tensor, contact_buf: Tensor, tar_contact_forces: Tensor, len_keypos: Int, w: float) Tensor [source]#
- rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.compute_humanoid_reset(reset_buf: Tensor, progress_buf: Tensor, contact_buf: Tensor, rigid_body_pos: Tensor, max_episode_length: float, enable_early_termination: bool, termination_heights: Tensor, hoi_ref: Tensor, hoi_obs: Tensor) Tuple[Tensor, Tensor] #