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

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

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

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

Classes
~~~~~~~

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

   * - :py:obj:`HumanoidReachTask <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.HumanoidReachTask>`
     -

Functions
~~~~~~~~~

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

   * - :py:obj:`compute_location_observations <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.compute_location_observations>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.compute_location_observations
          :summary:
   * - :py:obj:`compute_reach_reward <rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.compute_reach_reward>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.compute_reach_reward
          :summary:

API
~~~

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

   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_reach.HumanoidReachTask.get_task_obs_size

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.HumanoidReachTask.get_task_obs_size

.. py:function:: compute_location_observations(root_states: Tensor, tar_pos: Tensor) -> Tensor
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.compute_location_observations

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.compute_location_observations

.. py:function:: compute_reach_reward(reach_body_pos: Tensor, root_rot: Tensor, tar_pos: Tensor, tar_speed: float, dt: float) -> Tensor
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.compute_reach_reward

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.ase.humanoid_reach.compute_reach_reward