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

1.  Module Contents#

1.1.  Classes#

HumanoidAMPTask

1.2.  Functions#

build_amp_observations

1.3.  Data#

NUM_AMP_OBS_PER_STEP

1.4.  API#

rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.NUM_AMP_OBS_PER_STEP = None#
class rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.HumanoidAMPTask(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)[source]#

Bases: rofunc.learning.RofuncRL.tasks.isaacgymenv.amp.humanoid_amp_base.HumanoidAMPBase

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]#
reset_idx(env_ids)[source]#
rofunc.learning.RofuncRL.tasks.isaacgymenv.humanoid_amp.build_amp_observations(root_states: Tensor, dof_pos: Tensor, dof_vel: Tensor, key_body_pos: Tensor, local_root_obs: bool) → Tensor#