`rofunc.learning.RofuncRL.tasks.omniisaacgymenv.shared.locomotion`#

1. Module Contents#

class rofunc.learning.RofuncRL.tasks.omniisaacgymenv.shared.locomotion.LocomotionTask(name, env, offset=None)#

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

Initialization

rofunc.learning.RofuncRL.tasks.omniisaacgymenv.shared.locomotion.normalize_angle(x)#

rofunc.learning.RofuncRL.tasks.omniisaacgymenv.shared.locomotion.get_observations(torso_position: Tensor, torso_rotation: Tensor, velocity: Tensor, ang_velocity: Tensor, dof_pos: Tensor, dof_vel: Tensor, targets: Tensor, potentials: Tensor, dt: float, inv_start_rot: Tensor, basis_vec0: Tensor, basis_vec1: Tensor, dof_limits_lower: Tensor, dof_limits_upper: Tensor, dof_vel_scale: float, sensor_force_torques: Tensor, num_envs: int, contact_force_scale: float, actions: Tensor, angular_velocity_scale: float) → Tuple[Tensor, Tensor, Tensor, Tensor, Tensor]#

rofunc.learning.RofuncRL.tasks.omniisaacgymenv.shared.locomotion.is_done(obs_buf: Tensor, termination_height: float, reset_buf: Tensor, progress_buf: Tensor, max_episode_length: float) → Tensor#

rofunc.learning.RofuncRL.tasks.omniisaacgymenv.shared.locomotion.calculate_metrics(obs_buf: Tensor, actions: Tensor, up_weight: float, heading_weight: float, potentials: Tensor, prev_potentials: Tensor, actions_cost_scale: float, energy_cost_scale: float, termination_height: float, death_cost: float, num_dof: int, dof_at_limit_cost: Tensor, alive_reward_scale: float, motor_effort_ratio: Tensor) → Tensor#