:py:mod:`rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger` ============================================================== .. py:module:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger :allowtitles: Module Contents --------------- Classes ~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`TrifingerDimensions ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions :summary: * - :py:obj:`CuboidalObject ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject :summary: * - :py:obj:`Trifinger ` - Functions ~~~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`lgsk_kernel ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.lgsk_kernel :summary: * - :py:obj:`gen_keypoints ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.gen_keypoints :summary: * - :py:obj:`compute_trifinger_reward ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.compute_trifinger_reward :summary: * - :py:obj:`compute_trifinger_observations_states ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.compute_trifinger_observations_states :summary: * - :py:obj:`random_xy ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_xy :summary: * - :py:obj:`random_z ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_z :summary: * - :py:obj:`default_orientation ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.default_orientation :summary: * - :py:obj:`random_orientation ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_orientation :summary: * - :py:obj:`random_orientation_within_angle ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_orientation_within_angle :summary: * - :py:obj:`random_angular_vel ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_angular_vel :summary: * - :py:obj:`random_yaw_orientation ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_yaw_orientation :summary: Data ~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`project_dir ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.project_dir :summary: * - :py:obj:`ARENA_RADIUS ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.ARENA_RADIUS :summary: API ~~~ .. py:data:: project_dir :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.project_dir :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.project_dir .. py:class:: TrifingerDimensions :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions Bases: :py:obj:`enum.Enum` .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions .. py:attribute:: PoseDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.PoseDim :value: (7,) .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.PoseDim .. py:attribute:: VelocityDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.VelocityDim :value: 6 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.VelocityDim .. py:attribute:: StateDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.StateDim :value: 13 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.StateDim .. py:attribute:: WrenchDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.WrenchDim :value: 6 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.WrenchDim .. py:attribute:: NumFingers :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.NumFingers :value: 3 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.NumFingers .. py:attribute:: JointPositionDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.JointPositionDim :value: 9 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.JointPositionDim .. py:attribute:: JointVelocityDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.JointVelocityDim :value: 9 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.JointVelocityDim .. py:attribute:: JointTorqueDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.JointTorqueDim :value: 9 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.JointTorqueDim .. py:attribute:: GeneralizedCoordinatesDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.GeneralizedCoordinatesDim :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.GeneralizedCoordinatesDim .. py:attribute:: GeneralizedVelocityDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.GeneralizedVelocityDim :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.GeneralizedVelocityDim .. py:attribute:: ObjectPoseDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.ObjectPoseDim :value: 7 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.ObjectPoseDim .. py:attribute:: ObjectVelocityDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.ObjectVelocityDim :value: 6 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.TrifingerDimensions.ObjectVelocityDim .. py:data:: ARENA_RADIUS :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.ARENA_RADIUS :value: 0.195 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.ARENA_RADIUS .. py:class:: CuboidalObject(size: typing.Union[float, typing.Tuple[float, float, float]]) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject .. rubric:: Initialization .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.__init__ .. py:attribute:: radius_3d :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.radius_3d :type: float :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.radius_3d .. py:attribute:: max_com_distance_to_center :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.max_com_distance_to_center :type: float :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.max_com_distance_to_center .. py:attribute:: min_height :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.min_height :type: float :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.min_height .. py:attribute:: max_height :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.max_height :value: 0.1 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.max_height .. py:attribute:: NumKeypoints :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.NumKeypoints :value: 8 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.NumKeypoints .. py:attribute:: ObjectPositionDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.ObjectPositionDim :value: 3 .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.ObjectPositionDim .. py:attribute:: KeypointsCoordsDim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.KeypointsCoordsDim :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.KeypointsCoordsDim .. py:property:: size :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.size :type: typing.Tuple[float, float, float] .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.CuboidalObject.size .. py:class:: Trifinger(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask` .. py:attribute:: action_dim :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.action_dim :value: None .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.action_dim .. py:method:: create_sim() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.create_sim .. py:method:: compute_reward(actions) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.compute_reward .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.compute_reward .. py:method:: compute_observations() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.compute_observations .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.compute_observations .. py:method:: reset_idx(env_ids) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.reset_idx .. py:method:: pre_physics_step(actions) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.pre_physics_step .. py:method:: post_physics_step() :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.post_physics_step .. py:property:: env_steps_count :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.env_steps_count :type: int .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.Trifinger.env_steps_count .. py:function:: lgsk_kernel(x: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, scale: float = 50.0, eps: float = 2) -> rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.lgsk_kernel .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.lgsk_kernel .. py:function:: gen_keypoints(pose: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, num_keypoints: int = 8, size: typing.Tuple[float, float, float] = (0.065, 0.065, 0.065)) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.gen_keypoints .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.gen_keypoints .. py:function:: compute_trifinger_reward(obs_buf: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, reset_buf: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, progress_buf: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, episode_length: int, dt: float, finger_move_penalty_weight: float, finger_reach_object_weight: float, object_dist_weight: float, object_rot_weight: float, env_steps_count: int, object_goal_poses_buf: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, object_state: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, last_object_state: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, fingertip_state: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, last_fingertip_state: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, use_keypoints: bool) -> typing.Tuple[rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, typing.Dict[str, rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor]] :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.compute_trifinger_reward .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.compute_trifinger_reward .. py:function:: compute_trifinger_observations_states(asymmetric_obs: bool, dof_position: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, dof_velocity: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, object_state: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, object_goal_poses: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, actions: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, fingertip_state: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, joint_torques: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, tip_wrenches: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.compute_trifinger_observations_states .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.compute_trifinger_observations_states .. py:function:: random_xy(num: int, max_com_distance_to_center: float, device: str) -> typing.Tuple[rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor] :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_xy .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_xy .. py:function:: random_z(num: int, min_height: float, max_height: float, device: str) -> rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_z .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_z .. py:function:: default_orientation(num: int, device: str) -> rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.default_orientation .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.default_orientation .. py:function:: random_orientation(num: int, device: str) -> rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_orientation .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_orientation .. py:function:: random_orientation_within_angle(num: int, device: str, base: rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor, max_angle: float) :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_orientation_within_angle .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_orientation_within_angle .. py:function:: random_angular_vel(num: int, device: str, magnitude_stdev: float) -> rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_angular_vel .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_angular_vel .. py:function:: random_yaw_orientation(num: int, device: str) -> rofunc.learning.RofuncRL.tasks.utils.torch_jit_utils.torch.Tensor :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_yaw_orientation .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.trifinger.random_yaw_orientation