:py:mod:`rofunc.simulator.src.transforms`
=========================================

.. py:module:: rofunc.simulator.src.transforms

.. autodoc2-docstring:: rofunc.simulator.src.transforms
   :allowtitles:

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

Classes
~~~~~~~

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

   * - :py:obj:`Cabinet <rofunc.simulator.src.transforms.Cabinet>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet
          :summary:

Data
~~~~

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

   * - :py:obj:`gym <rofunc.simulator.src.transforms.gym>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.gym
          :summary:
   * - :py:obj:`args <rofunc.simulator.src.transforms.args>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.args
          :summary:
   * - :py:obj:`sim_params <rofunc.simulator.src.transforms.sim_params>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.sim_params
          :summary:
   * - :py:obj:`sim <rofunc.simulator.src.transforms.sim>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.sim
          :summary:
   * - :py:obj:`plane_params <rofunc.simulator.src.transforms.plane_params>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.plane_params
          :summary:
   * - :py:obj:`viewer <rofunc.simulator.src.transforms.viewer>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.viewer
          :summary:
   * - :py:obj:`asset_root <rofunc.simulator.src.transforms.asset_root>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.asset_root
          :summary:
   * - :py:obj:`asset_file <rofunc.simulator.src.transforms.asset_file>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.asset_file
          :summary:
   * - :py:obj:`asset_options <rofunc.simulator.src.transforms.asset_options>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.asset_options
          :summary:
   * - :py:obj:`asset <rofunc.simulator.src.transforms.asset>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.asset
          :summary:
   * - :py:obj:`num_envs <rofunc.simulator.src.transforms.num_envs>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.num_envs
          :summary:
   * - :py:obj:`spacing <rofunc.simulator.src.transforms.spacing>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.spacing
          :summary:
   * - :py:obj:`env_lower <rofunc.simulator.src.transforms.env_lower>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.env_lower
          :summary:
   * - :py:obj:`env_upper <rofunc.simulator.src.transforms.env_upper>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.env_upper
          :summary:
   * - :py:obj:`cabinets <rofunc.simulator.src.transforms.cabinets>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.cabinets
          :summary:
   * - :py:obj:`cam_pos <rofunc.simulator.src.transforms.cam_pos>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.cam_pos
          :summary:
   * - :py:obj:`cam_target <rofunc.simulator.src.transforms.cam_target>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.cam_target
          :summary:
   * - :py:obj:`axes_geom <rofunc.simulator.src.transforms.axes_geom>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.axes_geom
          :summary:
   * - :py:obj:`sphere_rot <rofunc.simulator.src.transforms.sphere_rot>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.sphere_rot
          :summary:
   * - :py:obj:`sphere_pose <rofunc.simulator.src.transforms.sphere_pose>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.sphere_pose
          :summary:
   * - :py:obj:`sphere_geom <rofunc.simulator.src.transforms.sphere_geom>`
     - .. autodoc2-docstring:: rofunc.simulator.src.transforms.sphere_geom
          :summary:

API
~~~

.. py:data:: gym
   :canonical: rofunc.simulator.src.transforms.gym
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.gym

.. py:data:: args
   :canonical: rofunc.simulator.src.transforms.args
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.args

.. py:data:: sim_params
   :canonical: rofunc.simulator.src.transforms.sim_params
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.sim_params

.. py:data:: sim
   :canonical: rofunc.simulator.src.transforms.sim
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.sim

.. py:data:: plane_params
   :canonical: rofunc.simulator.src.transforms.plane_params
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.plane_params

.. py:data:: viewer
   :canonical: rofunc.simulator.src.transforms.viewer
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.viewer

.. py:data:: asset_root
   :canonical: rofunc.simulator.src.transforms.asset_root
   :value: '../assets'

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.asset_root

.. py:data:: asset_file
   :canonical: rofunc.simulator.src.transforms.asset_file
   :value: 'urdf/sektion_cabinet_model/urdf/sektion_cabinet.urdf'

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.asset_file

.. py:data:: asset_options
   :canonical: rofunc.simulator.src.transforms.asset_options
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.asset_options

.. py:data:: asset
   :canonical: rofunc.simulator.src.transforms.asset
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.asset

.. py:data:: num_envs
   :canonical: rofunc.simulator.src.transforms.num_envs
   :value: 2

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.num_envs

.. py:data:: spacing
   :canonical: rofunc.simulator.src.transforms.spacing
   :value: 1.0

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.spacing

.. py:data:: env_lower
   :canonical: rofunc.simulator.src.transforms.env_lower
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.env_lower

.. py:data:: env_upper
   :canonical: rofunc.simulator.src.transforms.env_upper
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.env_upper

.. py:class:: Cabinet(env, actor)
   :canonical: rofunc.simulator.src.transforms.Cabinet

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet.__init__

   .. py:attribute:: DRAWER_GRASP
      :canonical: rofunc.simulator.src.transforms.Cabinet.DRAWER_GRASP
      :value: None

      .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet.DRAWER_GRASP

   .. py:attribute:: LEFT_DOOR_GRASP
      :canonical: rofunc.simulator.src.transforms.Cabinet.LEFT_DOOR_GRASP
      :value: None

      .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet.LEFT_DOOR_GRASP

   .. py:attribute:: RIGHT_DOOR_GRASP
      :canonical: rofunc.simulator.src.transforms.Cabinet.RIGHT_DOOR_GRASP
      :value: None

      .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet.RIGHT_DOOR_GRASP

   .. py:attribute:: TOP_DRAWER_INDEX
      :canonical: rofunc.simulator.src.transforms.Cabinet.TOP_DRAWER_INDEX
      :value: 8

      .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet.TOP_DRAWER_INDEX

   .. py:attribute:: BOTTOM_DRAWER_INDEX
      :canonical: rofunc.simulator.src.transforms.Cabinet.BOTTOM_DRAWER_INDEX
      :value: 6

      .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet.BOTTOM_DRAWER_INDEX

   .. py:attribute:: RIGHT_DOOR_INDEX
      :canonical: rofunc.simulator.src.transforms.Cabinet.RIGHT_DOOR_INDEX
      :value: 4

      .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet.RIGHT_DOOR_INDEX

   .. py:attribute:: LEFT_DOOR_INDEX
      :canonical: rofunc.simulator.src.transforms.Cabinet.LEFT_DOOR_INDEX
      :value: 2

      .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet.LEFT_DOOR_INDEX

   .. py:method:: get_grasp_points()
      :canonical: rofunc.simulator.src.transforms.Cabinet.get_grasp_points

      .. autodoc2-docstring:: rofunc.simulator.src.transforms.Cabinet.get_grasp_points

.. py:data:: cabinets
   :canonical: rofunc.simulator.src.transforms.cabinets
   :value: []

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.cabinets

.. py:data:: cam_pos
   :canonical: rofunc.simulator.src.transforms.cam_pos
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.cam_pos

.. py:data:: cam_target
   :canonical: rofunc.simulator.src.transforms.cam_target
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.cam_target

.. py:data:: axes_geom
   :canonical: rofunc.simulator.src.transforms.axes_geom
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.axes_geom

.. py:data:: sphere_rot
   :canonical: rofunc.simulator.src.transforms.sphere_rot
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.sphere_rot

.. py:data:: sphere_pose
   :canonical: rofunc.simulator.src.transforms.sphere_pose
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.sphere_pose

.. py:data:: sphere_geom
   :canonical: rofunc.simulator.src.transforms.sphere_geom
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.transforms.sphere_geom