rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain#

1.  Module Contents#

1.1.  Classes#

AnymalTerrainOmniTask

1.2.  Functions#

quat_apply_yaw

wrap_to_pi

get_axis_params

construct arguments to Vec according to axis index.

1.3.  API#

class rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.AnymalTerrainOmniTask(name, sim_config, env, offset=None)#

Bases: rofunc.learning.RofuncRL.tasks.omniisaacgym.base.rl_task.RLTask

Initialization

init_height_points()#
set_up_scene(scene) → None#
get_terrain()#
get_anymal()#
post_reset()#
reset_idx(env_ids)#
update_terrain_level(env_ids)#
refresh_dof_state_tensors()#
refresh_body_state_tensors()#
pre_physics_step(actions)#
post_physics_step()#
push_robots()#
check_termination()#
calculate_metrics()#
get_observations()#
get_ground_heights_below_knees()#
get_ground_heights_below_base()#
get_heights(env_ids=None)#
rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.quat_apply_yaw(quat, vec)#
rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.wrap_to_pi(angles)#
rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal_terrain.get_axis_params(value, axis_idx, x_value=0.0, dtype=float, n_dims=3)#

construct arguments to Vec according to axis index.