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

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

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

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

Classes
~~~~~~~

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

   * - :py:obj:`HumanoidPerturbTask <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_perturb.HumanoidPerturbTask>`
     -

Functions
~~~~~~~~~

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

   * - :py:obj:`compute_humanoid_reset <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_perturb.compute_humanoid_reset>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_perturb.compute_humanoid_reset
          :summary:

Data
~~~~

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

   * - :py:obj:`PERTURB_OBJS <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_perturb.PERTURB_OBJS>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_perturb.PERTURB_OBJS
          :summary:

API
~~~

.. py:data:: PERTURB_OBJS
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_perturb.PERTURB_OBJS
   :value: [['small', 60], ['small', 7], ['small', 10], ['small', 35], ['small', 2], ['small', 2], ['small', 3]...

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_perturb.PERTURB_OBJS

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

   Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_amp.HumanoidAMP`

   .. py:method:: post_physics_step()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_perturb.HumanoidPerturbTask.post_physics_step

.. py:function:: compute_humanoid_reset(reset_buf: Tensor, progress_buf: Tensor, contact_buf: Tensor, contact_body_ids: Tensor, rigid_body_pos: Tensor, max_episode_length: float, enable_early_termination: bool, termination_heights: Tensor) -> Tuple[Tensor, Tensor]
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_perturb.compute_humanoid_reset

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_perturb.compute_humanoid_reset