rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_amp#

1.  Module Contents#

1.1.  Classes#

HumanoidAMP

1.2.  Functions#

build_amp_observations

1.3.  API#

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

Bases: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid.Humanoid

class StateInit[source]#

Bases: enum.Enum

Default = 0#
Start = 1#
Random = 2#
Hybrid = 3#
post_physics_step()[source]#
get_num_amp_obs()[source]#
property amp_observation_space#
fetch_amp_obs_demo(num_samples)[source]#
build_amp_obs_demo(motion_ids, motion_times0)[source]#
reset_idx(env_ids)[source]#
rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_amp.build_amp_observations(root_pos: Tensor, root_rot: Tensor, root_vel: Tensor, root_ang_vel: Tensor, dof_pos: Tensor, dof_vel: Tensor, key_body_pos: Tensor, local_root_obs: bool, root_height_obs: bool, dof_obs_size: int, dof_offsets: List[int]) → Tensor#