:py:mod:`rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp`
=================================================================

.. py:module:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp

.. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp
   :allowtitles:

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

Classes
~~~~~~~

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

   * - :py:obj:`HumanoidAMPTask <rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask>`
     -

Functions
~~~~~~~~~

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

   * - :py:obj:`build_amp_observations <rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.build_amp_observations>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.build_amp_observations
          :summary:

Data
~~~~

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

   * - :py:obj:`NUM_AMP_OBS_PER_STEP <rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.NUM_AMP_OBS_PER_STEP>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.NUM_AMP_OBS_PER_STEP
          :summary:

API
~~~

.. py:data:: NUM_AMP_OBS_PER_STEP
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.NUM_AMP_OBS_PER_STEP
   :value: None

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.NUM_AMP_OBS_PER_STEP

.. py:class:: HumanoidAMPTask(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask

   Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase`

   .. py:class:: StateInit
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.StateInit

      Bases: :py:obj:`enum.Enum`

      .. py:attribute:: Default
         :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.StateInit.Default
         :value: 0

         .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.StateInit.Default

      .. py:attribute:: Start
         :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.StateInit.Start
         :value: 1

         .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.StateInit.Start

      .. py:attribute:: Random
         :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.StateInit.Random
         :value: 2

         .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.StateInit.Random

      .. py:attribute:: Hybrid
         :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.StateInit.Hybrid
         :value: 3

         .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.StateInit.Hybrid

   .. py:method:: post_physics_step()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.post_physics_step

   .. py:method:: get_num_amp_obs()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.get_num_amp_obs

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.get_num_amp_obs

   .. py:property:: amp_observation_space
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.amp_observation_space

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.amp_observation_space

   .. py:method:: fetch_amp_obs_demo(num_samples)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.fetch_amp_obs_demo

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.fetch_amp_obs_demo

   .. py:method:: reset_idx(env_ids)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask.reset_idx

.. py:function:: build_amp_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.humanoid_amp.build_amp_observations

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.build_amp_observations