Backend using the Genesis physics simulator. More...

Public Member Functions
None	__init__ (self, float dt, dict genesis_init={}, bool gui=True, int substeps=1)
	Initialize Genesis backend. More...

def	__del__ (self)
	Clean up Genesis when deleting the backend instance.

None	close (self)
	Clean up Genesis properly. More...

dict	reset (self, RobotState init_state)
	Reset the Genesis simulation and get an initial observation. More...

dict	step (self, dict action)
	Apply action and step the Genesis simulation. More...

dict	get_spine_observation (self)

Detailed Description

Backend using the Genesis physics simulator.

The documentation for this class was generated from the following file:

Public Member Functions