(self)
| 142 | self.env_origins[:, 2] = 0. |
| 143 | |
| 144 | def _load_assets(self): |
| 145 | |
| 146 | self.simulator.load_assets() |
| 147 | self.num_dof, self.num_bodies, self.dof_names, self.body_names = self.simulator.num_dof, self.simulator.num_bodies, self.simulator.dof_names, self.simulator.body_names |
| 148 | |
| 149 | # check dimensions |
| 150 | assert self.num_dof == self.dim_actions, "Number of DOFs must be equal to number of actions" |
| 151 | |
| 152 | # other properties |
| 153 | self.num_bodies = len(self.body_names) |
| 154 | self.num_dofs = len(self.dof_names) |
| 155 | base_init_state_list = self.config.robot.init_state.pos + self.config.robot.init_state.rot + self.config.robot.init_state.lin_vel + self.config.robot.init_state.ang_vel |
| 156 | self.base_init_state = to_torch(base_init_state_list, device=self.device, requires_grad=False) |
| 157 | |
| 158 | def _create_envs(self): |
| 159 | """ Creates environments: |
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