rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi

`rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi`#

1. Module Contents#

1.1. Classes#

`Humanoid_SMPLX`
`PhysHOI_BallPlay`

1.2. Functions#

`build_hoi_observations`
`compute_obj_observations`
`compute_humanoid_observations_max`
`compute_humanoid_reward`
`compute_humanoid_reset`

1.3. Data#

PERTURB_OBJS

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)#

Bases: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask

Initialization

get_obs_size()#

get_action_size()#

get_num_actors_per_env()#

create_sim()#

reset()#

set_char_color(col, env_ids)#

reset_idx(env_ids)#

get_num_amp_obs()#

pre_physics_step(actions)#

post_physics_step()#

render(sync_frame_time=False)#

class rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.PhysHOI_BallPlay(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)#

Bases: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.Humanoid_SMPLX

Initialization

class StateInit#

Bases: enum.Enum

Default = 0#

Start = 1#

Random = 2#

Hybrid = 3#

post_physics_step()#

reset_idx(env_ids)#

play_dataset_step(time)#

get_dataset_step(time)#

render(sync_frame_time=False, t=0)#

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)#

rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.physhoi.compute_obj_observations(root_states: Tensor, tar_states: Tensor) → Tensor#

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#

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]#