:py:mod:`rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading`
=========================================================================

.. py:module:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading

.. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading
   :allowtitles:

Module Contents
---------------

Classes
~~~~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`HumanoidHeadingTask <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.HumanoidHeadingTask>`
     -

Functions
~~~~~~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`compute_heading_observations <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.compute_heading_observations>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.compute_heading_observations
          :summary:
   * - :py:obj:`compute_heading_reward <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.compute_heading_reward>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.compute_heading_reward
          :summary:

Data
~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`TAR_ACTOR_ID <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.TAR_ACTOR_ID>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.TAR_ACTOR_ID
          :summary:
   * - :py:obj:`TAR_FACING_ACTOR_ID <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.TAR_FACING_ACTOR_ID>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.TAR_FACING_ACTOR_ID
          :summary:

API
~~~

.. py:data:: TAR_ACTOR_ID
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.TAR_ACTOR_ID
   :value: 1

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.TAR_ACTOR_ID

.. py:data:: TAR_FACING_ACTOR_ID
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.TAR_FACING_ACTOR_ID
   :value: 2

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.TAR_FACING_ACTOR_ID

.. py:class:: HumanoidHeadingTask(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.HumanoidHeadingTask

   Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_amp_task.HumanoidAMPTask`

   .. py:method:: get_task_obs_size()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.HumanoidHeadingTask.get_task_obs_size

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.HumanoidHeadingTask.get_task_obs_size

   .. py:method:: pre_physics_step(actions)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.HumanoidHeadingTask.pre_physics_step

.. py:function:: compute_heading_observations(root_states: Tensor, tar_dir: Tensor, tar_speed: Tensor, tar_face_dir: Tensor) -> Tensor
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.compute_heading_observations

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.compute_heading_observations

.. py:function:: compute_heading_reward(root_pos: Tensor, prev_root_pos: Tensor, root_rot: Tensor, tar_dir: Tensor, tar_speed: Tensor, tar_face_dir: Tensor, dt: float) -> Tensor
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.compute_heading_reward

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_heading.compute_heading_reward