rofunc.learning.RofuncRL.tasks.omniisaacgymenv.humanoid

1.  Module Contents

1.1.  Classes

HumanoidOmniTask

1.2.  Functions

get_dof_at_limit_cost

1.3.  API

class rofunc.learning.RofuncRL.tasks.omniisaacgymenv.humanoid.HumanoidOmniTask(name, sim_config, env, offset=None)

Bases: rofunc.learning.RofuncRL.tasks.omniisaacgym.shared.locomotion.LocomotionTask

Initialization

set_up_scene(scene) → None

get_humanoid()

get_robot()

post_reset()

get_dof_at_limit_cost()

rofunc.learning.RofuncRL.tasks.omniisaacgymenv.humanoid.get_dof_at_limit_cost(obs_buf: Tensor, motor_effort_ratio: Tensor, joints_at_limit_cost_scale: float) → Tensor