rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal

1.  Module Contents

1.1.  Classes

Anymal

1.2.  Functions

compute_anymal_reward
compute_anymal_observations

1.3.  API

class rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal.Anymal(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)

Bases: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask

create_sim()

pre_physics_step(actions)

post_physics_step()

compute_reward(actions)

compute_observations()

reset_idx(env_ids)

rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal.compute_anymal_reward(root_states: Tensor, commands: Tensor, torques: Tensor, contact_forces: Tensor, knee_indices: Tensor, episode_lengths: Tensor, rew_scales: Dict[str, float], base_index: int, max_episode_length: int) → Tuple[Tensor, Tensor]

rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal.compute_anymal_observations(root_states: Tensor, commands: Tensor, dof_pos: Tensor, default_dof_pos: Tensor, dof_vel: Tensor, gravity_vec: Tensor, actions: Tensor, lin_vel_scale: float, ang_vel_scale: float, dof_pos_scale: float, dof_vel_scale: float) → Tensor