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

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

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

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

Classes
~~~~~~~

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

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

API
~~~

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

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

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.__init__

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.set_up_scene

   .. py:method:: get_balance_table()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.get_balance_table

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.get_balance_table

   .. py:method:: add_ball()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.add_ball

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.add_ball

   .. py:method:: set_up_table_anchors()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.set_up_table_anchors

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.set_up_table_anchors

   .. py:method:: fix_to_ground(stage, joint_path, prim_path, anchor_pos)
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.fix_to_ground

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.fix_to_ground

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.get_observations

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.pre_physics_step

   .. py:method:: reset_idx(env_ids)
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.reset_idx

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.reset_idx

   .. py:method:: post_reset()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.post_reset

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.post_reset

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.calculate_metrics

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.ball_balance.BallBalanceOmniTask.is_done