:py:mod:`rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant`
============================================================

.. py:module:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant

.. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant
   :allowtitles:

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

Classes
~~~~~~~

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

   * - :py:obj:`AntOmniTask <rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask
          :summary:

Functions
~~~~~~~~~

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

   * - :py:obj:`get_dof_at_limit_cost <rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.get_dof_at_limit_cost>`
     - .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.get_dof_at_limit_cost
          :summary:

API
~~~

.. py:class:: AntOmniTask(name, sim_config, env, offset=None)
   :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask

   Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.omniisaacgym.shared.locomotion.LocomotionTask`

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.__init__

   .. py:method:: set_up_scene(scene) -> None
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.set_up_scene

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.set_up_scene

   .. py:method:: get_ant()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.get_ant

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.get_ant

   .. py:method:: get_robot()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.get_robot

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.get_robot

   .. py:method:: post_reset()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.post_reset

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.post_reset

   .. py:method:: get_dof_at_limit_cost()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.get_dof_at_limit_cost

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.AntOmniTask.get_dof_at_limit_cost

.. py:function:: get_dof_at_limit_cost(obs_buf: Tensor, num_dof: int) -> Tensor
   :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.get_dof_at_limit_cost

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ant.get_dof_at_limit_cost