rofunc.learning.RofuncRL.tasks.isaacgymenv.franka_cabinet

1.  Module Contents

1.1.  Classes

FrankaCabinetTask

1.2.  Functions

compute_franka_reward
compute_grasp_transforms

1.3.  API

class rofunc.learning.RofuncRL.tasks.isaacgymenv.franka_cabinet.FrankaCabinetTask(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()

init_data()

compute_reward(actions)

compute_observations()

reset_idx(env_ids)

pre_physics_step(actions)

post_physics_step()

rofunc.learning.RofuncRL.tasks.isaacgymenv.franka_cabinet.compute_franka_reward(reset_buf: Tensor, progress_buf: Tensor, actions: Tensor, cabinet_dof_pos: Tensor, franka_grasp_pos: Tensor, drawer_grasp_pos: Tensor, franka_grasp_rot: Tensor, drawer_grasp_rot: Tensor, franka_lfinger_pos: Tensor, franka_rfinger_pos: Tensor, gripper_forward_axis: Tensor, drawer_inward_axis: Tensor, gripper_up_axis: Tensor, drawer_up_axis: Tensor, num_envs: int, dist_reward_scale: float, rot_reward_scale: float, around_handle_reward_scale: float, open_reward_scale: float, finger_dist_reward_scale: float, action_penalty_scale: float, distX_offset: float, max_episode_length: float) → Tuple[Tensor, Tensor]

rofunc.learning.RofuncRL.tasks.isaacgymenv.franka_cabinet.compute_grasp_transforms(hand_rot: Tensor, hand_pos: Tensor, franka_local_grasp_rot: Tensor, franka_local_grasp_pos: Tensor, drawer_rot: Tensor, drawer_pos: Tensor, drawer_local_grasp_rot: Tensor, drawer_local_grasp_pos: Tensor) → Tuple[Tensor, Tensor, Tensor, Tensor]