rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading

Contents

`rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading`#

1. Module Contents#

1.1. Classes#

HumanoidHeadingTask

1.2. Functions#

`compute_heading_observations`
`compute_heading_reward`

1.3. Data#

`TAR_ACTOR_ID`
`TAR_FACING_ACTOR_ID`

1.4. API#

rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.TAR_ACTOR_ID = 1#

rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.TAR_FACING_ACTOR_ID = 2#

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

Bases: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_amp_task.HumanoidAMPTask

get_task_obs_size()[source]#

pre_physics_step(actions)[source]#

rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.compute_heading_observations(root_states: Tensor, tar_dir: Tensor, tar_speed: Tensor, tar_face_dir: Tensor) → Tensor#

rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.compute_heading_reward(root_pos: Tensor, prev_root_pos: Tensor, root_rot: Tensor, tar_dir: Tensor, tar_speed: Tensor, tar_face_dir: Tensor, dt: float) → Tensor#