rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal_terrain#

1.  Module Contents#

1.1.  Classes#

AnymalTerrain

Terrain

1.2.  Functions#

quat_apply_yaw

wrap_to_pi

1.3.  API#

class rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal_terrain.AnymalTerrain(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)[source]#

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

create_sim()[source]#
check_termination()[source]#
compute_observations()[source]#
compute_reward()[source]#
reset_idx(env_ids)[source]#
update_terrain_level(env_ids)[source]#
push_robots()[source]#
pre_physics_step(actions)[source]#
post_physics_step()[source]#
init_height_points()[source]#
get_heights(env_ids=None)[source]#
class rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal_terrain.Terrain(cfg, num_robots)[source]#

Initialization

randomized_terrain()[source]#
curiculum(num_robots, num_terrains, num_levels)[source]#
rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal_terrain.quat_apply_yaw(quat, vec)#
rofunc.learning.RofuncRL.tasks.isaacgymenv.anymal_terrain.wrap_to_pi(angles)#