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

1.  Module Contents#

1.1.  Classes#

HumanoidReachTask

1.2.  Functions#

compute_location_observations

compute_reach_reward

1.3.  API#

class rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.HumanoidReachTask(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]#
rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.compute_location_observations(root_states: Tensor, tar_pos: Tensor) → Tensor#
rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.compute_reach_reward(reach_body_pos: Tensor, root_rot: Tensor, tar_pos: Tensor, tar_speed: float, dt: float) → Tensor#