Source code for rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_amp_task

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import torch

from rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_amp import HumanoidAMP


[docs]class HumanoidAMPTask(HumanoidAMP):
    def __init__(self, cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render):
        self.cfg = cfg

        self._enable_task_obs = cfg["env"]["enableTaskObs"]

        super().__init__(cfg=self.cfg, rl_device=rl_device, sim_device=sim_device,
                         graphics_device_id=graphics_device_id, headless=headless,
                         virtual_screen_capture=virtual_screen_capture, force_render=force_render)

[docs]    def get_obs_size(self):
        obs_size = super().get_obs_size()
        if self._enable_task_obs:
            task_obs_size = self.get_task_obs_size()
            obs_size += task_obs_size
        return obs_size

[docs]    def get_task_obs_size(self):
        return 0

[docs]    def pre_physics_step(self, actions):
        super().pre_physics_step(actions)
        self._update_task()

[docs]    def render(self, sync_frame_time=False):
        super().render(sync_frame_time)

        if self.viewer:
            self._draw_task()

    def _update_task(self):
        return

[docs]    def reset_idx(self, env_ids):
        super().reset_idx(env_ids)
        self._reset_task(env_ids)

    def _reset_task(self, env_ids):
        pass

    def _compute_observations(self, env_ids=None):
        humanoid_obs = self._compute_humanoid_obs(env_ids)

        if self._enable_task_obs:
            task_obs = self._compute_task_obs(env_ids)
            obs = torch.cat([humanoid_obs, task_obs], dim=-1)
        else:
            obs = humanoid_obs

        if env_ids is None:
            self.obs_buf[:] = obs
        else:
            self.obs_buf[env_ids] = obs

    def _compute_task_obs(self, env_ids=None):
        return NotImplemented

    def _compute_reward(self, actions):
        return NotImplemented

    def _draw_task(self):
        pass