rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.humanoid_physhoi

1.  Module Contents

1.1.  Classes

Humanoid_SMPLX
HumanoidPhysHOITask

1.2.  Functions

build_hoi_observations
compute_obj_observations
compute_humanoid_observations_max
compute_humanoid_reward
compute_humanoid_reset

1.3.  Data

PERTURB_OBJS

1.4.  API

rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.humanoid_physhoi.PERTURB_OBJS = [['small', 60]]

class rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.humanoid_physhoi.Humanoid_SMPLX(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)

Bases: rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask

get_obs_size()

get_action_size()

get_num_actors_per_env()

create_sim()

reset()

set_char_color(col, env_ids)

reset_idx(env_ids)

get_num_amp_obs()

pre_physics_step(actions)

post_physics_step()

render(sync_frame_time=False)

class rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.humanoid_physhoi.HumanoidPhysHOITask(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)

Bases: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.humanoid_physhoi.Humanoid_SMPLX

class StateInit

Bases: enum.Enum

Default = 0

Start = 1

Random = 2

Hybrid = 3

post_physics_step()

reset_idx(env_ids)

play_dataset_step(time)

get_dataset_step(time)

render(sync_frame_time=False, t=0)

rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.humanoid_physhoi.build_hoi_observations(root_pos, root_rot, root_vel, root_ang_vel, dof_pos, dof_vel, key_body_pos, local_root_obs, root_height_obs, dof_obs_size, target_states, dof_diffvel)

rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.humanoid_physhoi.compute_obj_observations(root_states: Tensor, tar_states: Tensor) → Tensor

rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.humanoid_physhoi.compute_humanoid_observations_max(body_pos: Tensor, body_rot: Tensor, body_vel: Tensor, body_ang_vel: Tensor, local_root_obs: bool, root_height_obs: bool, contact_forces: Tensor, contact_body_ids: Tensor) → Tensor

rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.humanoid_physhoi.compute_humanoid_reward(hoi_ref: Tensor, hoi_obs: Tensor, contact_buf: Tensor, tar_contact_forces: Tensor, len_keypos: int, w_p: float, w_r: float, w_pv: float, w_rv: float, w_op: float, w_or: float, w_opv: float, w_orv: float, w_ig: float, w_cg1: float, w_cg2: float) → Tensor

rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.humanoid_physhoi.compute_humanoid_reset(reset_buf: Tensor, progress_buf: Tensor, contact_buf: Tensor, rigid_body_pos: Tensor, max_episode_length: float, enable_early_termination: bool, termination_heights: Tensor, hoi_ref: Tensor, hoi_obs: Tensor) → Tuple[Tensor, Tensor]