:py:mod:`rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1`
================================================================================================

.. py:module:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1

.. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1
   :allowtitles:

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

Classes
~~~~~~~

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

   * - :py:obj:`ShadowHandMetaML1 <rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1>`
     -

Functions
~~~~~~~~~

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

   * - :py:obj:`randomize_rotation <rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.randomize_rotation>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.randomize_rotation
          :summary:
   * - :py:obj:`randomize_rotation_pen <rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.randomize_rotation_pen>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.randomize_rotation_pen
          :summary:

API
~~~

.. py:class:: ShadowHandMetaML1(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render, agent_index=[[[0, 1, 2, 3, 4, 5]], [[0, 1, 2, 3, 4, 5]]], is_multi_agent=False)
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1

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

   .. py:method:: create_sim()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.create_sim

   .. py:method:: compute_reward(actions)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.compute_reward

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.compute_reward

   .. py:method:: compute_observations()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.compute_observations

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.compute_observations

   .. py:method:: compute_full_state(asymm_obs=False)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.compute_full_state

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.compute_full_state

   .. py:method:: reset_target_pose(env_ids, apply_reset=False)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.reset_target_pose

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.reset_target_pose

   .. py:method:: reset_idx(env_ids, goal_env_ids)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.reset_idx

   .. py:method:: pre_physics_step(actions)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.pre_physics_step

   .. py:method:: post_physics_step()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.ShadowHandMetaML1.post_physics_step

.. py:function:: randomize_rotation(rand0, rand1, x_unit_tensor, y_unit_tensor)
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.randomize_rotation

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.randomize_rotation

.. py:function:: randomize_rotation_pen(rand0, rand1, max_angle, x_unit_tensor, y_unit_tensor, z_unit_tensor)
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.randomize_rotation_pen

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.hands.shadow_hand_meta.shadow_hand_meta_ml1.randomize_rotation_pen