| 92 | # C++ GPU Class |
| 93 | class VecTaskGPU(VecTask): |
| 94 | def __init__(self, task, rl_device, clip_observations=5.0, clip_actions=1.0): |
| 95 | super().__init__(task, rl_device, clip_observations=clip_observations, clip_actions=clip_actions) |
| 96 | |
| 97 | self.obs_tensor = gymtorch.wrap_tensor(self.task.obs_tensor, counts=(self.task.num_envs, self.task.num_obs)) |
| 98 | self.rewards_tensor = gymtorch.wrap_tensor(self.task.rewards_tensor, counts=(self.task.num_envs,)) |
| 99 | self.resets_tensor = gymtorch.wrap_tensor(self.task.resets_tensor, counts=(self.task.num_envs,)) |
| 100 | |
| 101 | def step(self, actions): |
| 102 | self.task.render(False) |