:py:mod:`rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task` ================================================================== .. py:module:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task :allowtitles: Module Contents --------------- Classes ~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`Env ` - * - :py:obj:`VecTask ` - Functions ~~~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`get_attr_val_from_sample ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.get_attr_val_from_sample :summary: Data ~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`EXISTING_SIM ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.EXISTING_SIM :summary: * - :py:obj:`SCREEN_CAPTURE_RESOLUTION ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.SCREEN_CAPTURE_RESOLUTION :summary: API ~~~ .. py:data:: EXISTING_SIM :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.EXISTING_SIM :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.EXISTING_SIM .. py:data:: SCREEN_CAPTURE_RESOLUTION :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.SCREEN_CAPTURE_RESOLUTION :value: (1027, 768) .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.SCREEN_CAPTURE_RESOLUTION .. py:class:: Env(config: typing.Dict[str, typing.Any], rl_device: str, sim_device: str, graphics_device_id: int, headless: bool) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env Bases: :py:obj:`abc.ABC` .. py:method:: allocate_buffers() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.allocate_buffers :abstractmethod: .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.allocate_buffers .. py:method:: step(actions: torch.Tensor) -> typing.Tuple[typing.Dict[str, torch.Tensor], torch.Tensor, torch.Tensor, typing.Dict[str, typing.Any]] :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.step :abstractmethod: .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.step .. py:method:: reset() -> typing.Dict[str, torch.Tensor] :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.reset :abstractmethod: .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.reset .. py:method:: reset_idx(env_ids: torch.Tensor) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.reset_idx :abstractmethod: .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.reset_idx .. py:property:: observation_space :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.observation_space :type: gym.Space .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.observation_space .. py:property:: action_space :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.action_space :type: gym.Space .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.action_space .. py:property:: num_envs :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.num_envs :type: int .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.num_envs .. py:property:: num_acts :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.num_acts :type: int .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.num_acts .. py:property:: num_obs :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.num_obs :type: int .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env.num_obs .. py:class:: VecTask(config, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture: bool = False, force_render: bool = False) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.Env` .. py:attribute:: metadata :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.metadata :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.metadata .. py:method:: set_viewer() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.set_viewer .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.set_viewer .. py:method:: allocate_buffers() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.allocate_buffers .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.allocate_buffers .. py:method:: set_sim_params_up_axis(sim_params: isaacgym.gymapi.SimParams, axis: str) -> int :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.set_sim_params_up_axis .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.set_sim_params_up_axis .. py:method:: create_sim(compute_device: int, graphics_device: int, physics_engine, sim_params: isaacgym.gymapi.SimParams) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.create_sim .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.create_sim .. py:method:: get_state() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.get_state .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.get_state .. py:method:: pre_physics_step(actions: torch.Tensor) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.pre_physics_step :abstractmethod: .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.pre_physics_step .. py:method:: post_physics_step() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.post_physics_step :abstractmethod: .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.post_physics_step .. py:method:: step(actions: torch.Tensor) -> typing.Tuple[typing.Dict[str, torch.Tensor], torch.Tensor, torch.Tensor, typing.Dict[str, typing.Any]] :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.step .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.step .. py:method:: zero_actions() -> torch.Tensor :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.zero_actions .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.zero_actions .. py:method:: reset_idx(env_idx) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.reset_idx .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.reset_idx .. py:method:: reset() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.reset .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.reset .. py:method:: reset_done() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.reset_done .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.reset_done .. py:method:: render(mode='rgb_array') :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.render .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.render .. py:method:: get_actor_params_info(dr_params: typing.Dict[str, typing.Any], env) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.get_actor_params_info .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.get_actor_params_info .. py:method:: apply_randomizations(dr_params) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.apply_randomizations .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask.apply_randomizations .. py:function:: get_attr_val_from_sample(sample, offset, prop, attr) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.get_attr_val_from_sample .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.get_attr_val_from_sample