:py:mod:`rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task`
======================================================================

.. py:module:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task

.. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task
   :allowtitles:

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

Classes
~~~~~~~

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

   * - :py:obj:`BaseTask <rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask
          :summary:

Functions
~~~~~~~~~

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

   * - :py:obj:`get_attr_val_from_sample <rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.get_attr_val_from_sample>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.get_attr_val_from_sample
          :summary:

API
~~~

.. py:class:: BaseTask(cfg, enable_camera_sensors=False)
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.__init__

   .. py:method:: reset_done()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.reset_done

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.reset_done

   .. py:property:: observation_space
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.observation_space

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.observation_space

   .. py:property:: action_space
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.action_space

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.action_space

   .. py:method:: set_sim_params_up_axis(sim_params, axis)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.set_sim_params_up_axis

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.set_sim_params_up_axis

   .. py:method:: create_sim(compute_device, graphics_device, physics_engine, sim_params)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.create_sim

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.create_sim

   .. py:method:: step(actions)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.step

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.step

   .. py:method:: get_states()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.get_states

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.get_states

   .. py:method:: render(sync_frame_time=False)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.render

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.render

   .. py:method:: get_actor_params_info(dr_params, env)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.get_actor_params_info

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.get_actor_params_info

   .. py:method:: apply_randomizations(dr_params)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.apply_randomizations

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.apply_randomizations

   .. py:method:: pre_physics_step(actions)
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.pre_physics_step
      :abstractmethod:

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.pre_physics_step

   .. py:method:: post_physics_step()
      :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.post_physics_step
      :abstractmethod:

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.BaseTask.post_physics_step

.. py:function:: get_attr_val_from_sample(sample, offset, prop, attr)
   :canonical: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.get_attr_val_from_sample

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.isaacgymenv.physhoi.base_task.get_attr_val_from_sample