:py:mod:`rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors` =============================================================================== .. py:module:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors :allowtitles: Module Contents --------------- Classes ~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`ShadowHandScissorsTask ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask :summary: Functions ~~~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`depth_image_to_point_cloud_GPU ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.depth_image_to_point_cloud_GPU :summary: * - :py:obj:`compute_hand_reward ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.compute_hand_reward :summary: * - :py:obj:`randomize_rotation ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.randomize_rotation :summary: * - :py:obj:`randomize_rotation_pen ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.randomize_rotation_pen :summary: API ~~~ .. py:class:: ShadowHandScissorsTask(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render, agent_index=[[[0, 1, 2, 3, 4, 5]], [[0, 1, 2, 3, 4, 5]]], is_multi_agent=False) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask` .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask .. rubric:: Initialization .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.__init__ .. py:method:: create_sim() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.create_sim .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.create_sim .. py:method:: compute_reward(actions) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.compute_reward .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.compute_reward .. py:method:: compute_observations() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.compute_observations .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.compute_observations .. py:method:: compute_full_state(asymm_obs=False) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.compute_full_state .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.compute_full_state .. py:method:: compute_point_cloud_observation(collect_demonstration=False) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.compute_point_cloud_observation .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.compute_point_cloud_observation .. py:method:: reset_target_pose(env_ids, apply_reset=False) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.reset_target_pose .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.reset_target_pose .. py:method:: reset_idx(env_ids, goal_env_ids) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.reset_idx .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.reset_idx .. py:method:: pre_physics_step(actions) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.pre_physics_step .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.pre_physics_step .. py:method:: post_physics_step() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.post_physics_step .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.post_physics_step .. py:method:: add_debug_lines(env, pos, rot) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.add_debug_lines .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.add_debug_lines .. py:method:: rand_row(tensor, dim_needed) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.rand_row .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.rand_row .. py:method:: sample_points(points, sample_num=1000, sample_mathed='furthest') :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.sample_points .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.sample_points .. py:method:: camera_visulization(is_depth_image=False) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.camera_visulization .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.ShadowHandScissorsTask.camera_visulization .. py:function:: depth_image_to_point_cloud_GPU(camera_tensor, camera_view_matrix_inv, camera_proj_matrix, u, v, width: float, height: float, depth_bar: float, device: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.device) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.depth_image_to_point_cloud_GPU .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.depth_image_to_point_cloud_GPU .. py:function:: compute_hand_reward(rew_buf, reset_buf, reset_goal_buf, progress_buf, successes, consecutive_successes, max_episode_length: float, object_pos, object_rot, target_pos, target_rot, scissors_right_handle_pos, scissors_left_handle_pos, object_dof_pos, left_hand_pos, right_hand_pos, right_hand_ff_pos, right_hand_mf_pos, right_hand_rf_pos, right_hand_lf_pos, right_hand_th_pos, left_hand_ff_pos, left_hand_mf_pos, left_hand_rf_pos, left_hand_lf_pos, left_hand_th_pos, dist_reward_scale: float, rot_reward_scale: float, rot_eps: float, actions, action_penalty_scale: float, success_tolerance: float, reach_goal_bonus: float, fall_dist: float, fall_penalty: float, max_consecutive_successes: int, av_factor: float, ignore_z_rot: bool) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.compute_hand_reward .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.compute_hand_reward .. py:function:: randomize_rotation(rand0, rand1, x_unit_tensor, y_unit_tensor) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.randomize_rotation .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.randomize_rotation .. py:function:: randomize_rotation_pen(rand0, rand1, max_angle, x_unit_tensor, y_unit_tensor, z_unit_tensor) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.randomize_rotation_pen .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_scissors.randomize_rotation_pen