:py:mod:`rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib`
====================================================================

.. py:module:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib

.. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib
   :allowtitles:

Module Contents
---------------

Classes
~~~~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`DeviceCache <rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.DeviceCache>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.DeviceCache
          :summary:
   * - :py:obj:`MotionLib <rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib
          :summary:
   * - :py:obj:`ObjectMotionLib <rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.ObjectMotionLib>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.ObjectMotionLib
          :summary:

Data
~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`USE_CACHE <rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.USE_CACHE>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.USE_CACHE
          :summary:

API
~~~

.. py:data:: USE_CACHE
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.USE_CACHE
   :value: True

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.USE_CACHE

.. py:class:: DeviceCache(obj, device)
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.DeviceCache

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.DeviceCache

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.DeviceCache.__init__

.. py:class:: MotionLib(motion_file, dof_body_ids, dof_offsets, key_body_ids, device)
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.__init__

   .. py:method:: num_motions()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.num_motions

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.num_motions

   .. py:method:: get_total_length()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.get_total_length

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.get_total_length

   .. py:method:: get_motion(motion_id)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.get_motion

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.get_motion

   .. py:method:: sample_motions(n)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.sample_motions

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.sample_motions

   .. py:method:: sample_time(motion_ids, truncate_time=None)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.sample_time

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.sample_time

   .. py:method:: get_motion_length(motion_ids)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.get_motion_length

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.get_motion_length

   .. py:method:: get_object_pose(frame_id)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.get_object_pose

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.get_object_pose

   .. py:method:: get_motion_state(motion_ids, motion_times)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.get_motion_state

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.MotionLib.get_motion_state

.. py:class:: ObjectMotionLib(object_motion_file, object_names, device, humanoid_start_time=None, height_offset=0.0)
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.ObjectMotionLib

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.ObjectMotionLib

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.ObjectMotionLib.__init__

   .. py:method:: get_motion_state(motion_ids, motion_times)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.ObjectMotionLib.get_motion_state

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hotu.motion_lib.ObjectMotionLib.get_motion_state