:py:mod:`rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base` ========================================================================== .. py:module:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base :allowtitles: Module Contents --------------- Classes ~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`HumanoidAMPBase ` - Functions ~~~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`dof_to_obs ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.dof_to_obs :summary: * - :py:obj:`compute_humanoid_observations ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.compute_humanoid_observations :summary: * - :py:obj:`compute_humanoid_reward ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.compute_humanoid_reward :summary: * - :py:obj:`compute_humanoid_reset ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.compute_humanoid_reset :summary: Data ~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`DOF_BODY_IDS ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.DOF_BODY_IDS :summary: * - :py:obj:`DOF_OFFSETS ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.DOF_OFFSETS :summary: * - :py:obj:`NUM_OBS ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.NUM_OBS :summary: * - :py:obj:`NUM_ACTIONS ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.NUM_ACTIONS :summary: * - :py:obj:`KEY_BODY_NAMES ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.KEY_BODY_NAMES :summary: API ~~~ .. py:data:: DOF_BODY_IDS :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.DOF_BODY_IDS :value: [1, 2, 3, 4, 6, 7, 9, 10, 11, 12, 13, 14] .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.DOF_BODY_IDS .. py:data:: DOF_OFFSETS :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.DOF_OFFSETS :value: [0, 3, 6, 9, 10, 13, 14, 17, 18, 21, 24, 25, 28] .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.DOF_OFFSETS .. py:data:: NUM_OBS :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.NUM_OBS :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.NUM_OBS .. py:data:: NUM_ACTIONS :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.NUM_ACTIONS :value: 28 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.NUM_ACTIONS .. py:data:: KEY_BODY_NAMES :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.KEY_BODY_NAMES :value: ['right_hand', 'left_hand', 'right_foot', 'left_foot'] .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.KEY_BODY_NAMES .. py:class:: HumanoidAMPBase(config, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask` .. py:method:: get_obs_size() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.get_obs_size .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.get_obs_size .. py:method:: get_action_size() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.get_action_size .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.get_action_size .. py:method:: create_sim() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.create_sim .. py:method:: reset_idx(env_ids) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.reset_idx .. py:method:: set_char_color(col) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.set_char_color .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.set_char_color .. py:method:: pre_physics_step(actions) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.pre_physics_step .. py:method:: post_physics_step() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.post_physics_step .. py:method:: render() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase.render .. py:function:: dof_to_obs(pose: Tensor) -> Tensor :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.dof_to_obs .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.dof_to_obs .. py:function:: compute_humanoid_observations(root_states: Tensor, dof_pos: Tensor, dof_vel: Tensor, key_body_pos: Tensor, local_root_obs: bool) -> Tensor :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.compute_humanoid_observations .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.compute_humanoid_observations .. py:function:: compute_humanoid_reward(obs_buf: Tensor) -> Tensor :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.compute_humanoid_reward .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.compute_humanoid_reward .. py:function:: compute_humanoid_reset(reset_buf: Tensor, progress_buf: Tensor, contact_buf: Tensor, contact_body_ids: Tensor, rigid_body_pos: Tensor, max_episode_length: float, enable_early_termination: bool, termination_height: float) -> Tuple[Tensor, Tensor] :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.compute_humanoid_reset .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.compute_humanoid_reset