:py:mod:`rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole`
=============================================================

.. py:module:: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole

.. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole
   :allowtitles:

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

Classes
~~~~~~~

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

   * - :py:obj:`CartpoleTask <rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.CartpoleTask>`
     -

Functions
~~~~~~~~~

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

   * - :py:obj:`compute_cartpole_reward <rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.compute_cartpole_reward>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.compute_cartpole_reward
          :summary:

API
~~~

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

   Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.isaacgymenv.base.vec_task.VecTask`

   .. py:method:: create_sim()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.CartpoleTask.create_sim

   .. py:method:: compute_reward()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.CartpoleTask.compute_reward

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.CartpoleTask.compute_reward

   .. py:method:: compute_observations(env_ids=None)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.CartpoleTask.compute_observations

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.CartpoleTask.compute_observations

   .. py:method:: reset_idx(env_ids)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.CartpoleTask.reset_idx

   .. py:method:: pre_physics_step(actions)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.CartpoleTask.pre_physics_step

   .. py:method:: post_physics_step()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.CartpoleTask.post_physics_step

.. py:function:: compute_cartpole_reward(pole_angle: Tensor, pole_vel: Tensor, cart_vel: Tensor, cart_pos: Tensor, reset_dist: float, reset_buf: Tensor, progress_buf: Tensor, max_episode_length: float) -> Tuple[Tensor, Tensor]
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.compute_cartpole_reward

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.cartpole.compute_cartpole_reward