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

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

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

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

Classes
~~~~~~~

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

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

API
~~~

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

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

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.__init__

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.set_up_scene

   .. py:method:: get_franka()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.get_franka

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.get_franka

   .. py:method:: get_cabinet()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.get_cabinet

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.get_cabinet

   .. py:method:: get_props()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.get_props

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.get_props

   .. py:method:: init_data() -> None
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.init_data

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.init_data

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.get_observations

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.pre_physics_step

   .. py:method:: reset_idx(env_ids)
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.reset_idx

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.reset_idx

   .. py:method:: post_reset()
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.post_reset

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.post_reset

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.calculate_metrics

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

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.is_done

   .. py:method:: compute_grasp_transforms(hand_rot, hand_pos, franka_local_grasp_rot, franka_local_grasp_pos, drawer_rot, drawer_pos, drawer_local_grasp_rot, drawer_local_grasp_pos)
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.compute_grasp_transforms

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.compute_grasp_transforms

   .. py:method:: compute_franka_reward(reset_buf: Tensor, progress_buf: Tensor, actions: Tensor, cabinet_dof_pos: Tensor, franka_grasp_pos: Tensor, drawer_grasp_pos: Tensor, franka_grasp_rot: Tensor, drawer_grasp_rot: Tensor, franka_lfinger_pos: Tensor, franka_rfinger_pos: Tensor, gripper_forward_axis: Tensor, drawer_inward_axis: Tensor, gripper_up_axis: Tensor, drawer_up_axis: Tensor, num_envs: int, dist_reward_scale: float, rot_reward_scale: float, around_handle_reward_scale: float, open_reward_scale: float, finger_dist_reward_scale: float, action_penalty_scale: float, distX_offset: float, max_episode_length: float, joint_positions: Tensor, finger_close_reward_scale) -> Tuple[Tensor, Tensor]
      :canonical: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.compute_franka_reward

      .. autodoc2-docstring:: rofunc.learning.RofuncRL.tasks.omniisaacgymenv.franka_cabinet.FrankaCabinetOmniTask.compute_franka_reward