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

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

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

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

Classes
~~~~~~~

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

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

API
~~~

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

   Bases: :py:obj:`rofunc.learning.RofuncRL.tasks.omniisaacgym.base.rl_task.RLTask`

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.__init__

   .. py:method:: update_config(sim_config)
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.update_config

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.update_config

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.set_up_scene

   .. py:method:: initialize_views(scene)
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.initialize_views

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.initialize_views

   .. py:method:: get_anymal()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.get_anymal

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.get_anymal

   .. py:method:: get_observations() -> dict
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.get_observations

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.get_observations

   .. py:method:: pre_physics_step(actions) -> None
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.pre_physics_step

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.pre_physics_step

   .. py:method:: reset_idx(env_ids)
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.reset_idx

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.reset_idx

   .. py:method:: post_reset()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.post_reset

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.post_reset

   .. py:method:: calculate_metrics() -> None
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.calculate_metrics

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.calculate_metrics

   .. py:method:: is_done() -> None
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.is_done

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.anymal.AnymalOmniTask.is_done