:py:mod:`rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain` ======================================================================= .. py:module:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain :allowtitles: Module Contents --------------- Classes ~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`AnymalTerrainOmniTask ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask :summary: Functions ~~~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`quat_apply_yaw ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.quat_apply_yaw :summary: * - :py:obj:`wrap_to_pi ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.wrap_to_pi :summary: * - :py:obj:`get_axis_params ` - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.get_axis_params :summary: API ~~~ .. py:class:: AnymalTerrainOmniTask(name, sim_config, env, offset=None) :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.omniisaacgym.base.rl_task.RLTask` .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask .. rubric:: Initialization .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.__init__ .. py:method:: init_height_points() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.init_height_points .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.init_height_points .. py:method:: set_up_scene(scene) -> None :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.set_up_scene .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.set_up_scene .. py:method:: get_terrain() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_terrain .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_terrain .. py:method:: get_anymal() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_anymal .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_anymal .. py:method:: post_reset() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.post_reset .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.post_reset .. py:method:: reset_idx(env_ids) :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.reset_idx .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.reset_idx .. py:method:: update_terrain_level(env_ids) :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.update_terrain_level .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.update_terrain_level .. py:method:: refresh_dof_state_tensors() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.refresh_dof_state_tensors .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.refresh_dof_state_tensors .. py:method:: refresh_body_state_tensors() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.refresh_body_state_tensors .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.refresh_body_state_tensors .. py:method:: pre_physics_step(actions) :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.pre_physics_step .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.pre_physics_step .. py:method:: post_physics_step() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.post_physics_step .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.post_physics_step .. py:method:: push_robots() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.push_robots .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.push_robots .. py:method:: check_termination() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.check_termination .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.check_termination .. py:method:: calculate_metrics() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.calculate_metrics .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.calculate_metrics .. py:method:: get_observations() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_observations .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_observations .. py:method:: get_ground_heights_below_knees() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_ground_heights_below_knees .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_ground_heights_below_knees .. py:method:: get_ground_heights_below_base() :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_ground_heights_below_base .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_ground_heights_below_base .. py:method:: get_heights(env_ids=None) :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_heights .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask.get_heights .. py:function:: quat_apply_yaw(quat, vec) :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.quat_apply_yaw .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.quat_apply_yaw .. py:function:: wrap_to_pi(angles) :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.wrap_to_pi .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.wrap_to_pi .. py:function:: get_axis_params(value, axis_idx, x_value=0.0, dtype=float, n_dims=3) :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.get_axis_params .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.get_axis_params