isaaclab.envs.mdp
=================

.. automodule:: isaaclab.envs.mdp

Observations
------------

.. automodule:: isaaclab.envs.mdp.observations
    :members:

Actions
-------

.. important::

    ``PinkInverseKinematicsAction`` is supported only on Linux. Tasks configured with this action cannot run on
    Windows because Pink IK and its dependencies are not available there.

.. automodule:: isaaclab.envs.mdp.actions

.. automodule:: isaaclab.envs.mdp.actions.actions_cfg
    :members:
    :show-inheritance:
    :exclude-members: __init__, class_type

Events
------

.. automodule:: isaaclab.envs.mdp.events
    :members:

.. automodule:: isaaclab.envs.mdp.visual_events
    :members:

Commands
--------

.. automodule:: isaaclab.envs.mdp.commands

.. automodule:: isaaclab.envs.mdp.commands.commands_cfg
    :members:
    :show-inheritance:
    :exclude-members: __init__, class_type

Rewards
-------

.. automodule:: isaaclab.envs.mdp.rewards
    :members:

Terminations
------------

.. automodule:: isaaclab.envs.mdp.terminations
    :members:

Curriculum
----------

.. automodule:: isaaclab.envs.mdp.curriculums
    :members:

Additional Public Classes
-------------------------

The following classes are part of the public :mod:`isaaclab.envs.mdp` API.

.. currentmodule:: isaaclab.envs.mdp

.. autosummary::
   :nosignatures:

   AbsBinaryJointPositionAction
   ActionStateRecorderManagerCfg
   BinaryJointAction
   BinaryJointPositionAction
   BinaryJointVelocityAction
   EMAJointPositionToLimitsAction
   FixedTendonPositionAction
   InitialStateRecorder
   InitialStateRecorderCfg
   JointAction
   JointEffortAction
   JointPositionAction
   JointPositionToLimitsAction
   JointVelocityAction
   NonHolonomicAction
   NormalVelocityCommand
   NullCommand
   PostStepProcessedActionsRecorder
   PostStepProcessedActionsRecorderCfg
   PostStepStatesRecorder
   PostStepStatesRecorderCfg
   PreStepActionsRecorder
   PreStepActionsRecorderCfg
   PreStepFlatPolicyObservationsRecorder
   PreStepFlatPolicyObservationsRecorderCfg
   RelativeJointPositionAction
   SurfaceGripperBinaryAction
   TerrainBasedPose2dCommand
   UniformPose2dCommand
   UniformPoseCommand
   UniformVelocityCommand

.. autoclass:: AbsBinaryJointPositionAction
   :show-inheritance:

.. autoclass:: ActionStateRecorderManagerCfg
   :show-inheritance:

.. autoclass:: BinaryJointAction
   :show-inheritance:

.. autoclass:: BinaryJointPositionAction
   :show-inheritance:

.. autoclass:: BinaryJointVelocityAction
   :show-inheritance:

.. autoclass:: EMAJointPositionToLimitsAction
   :show-inheritance:

.. autoclass:: FixedTendonPositionAction
   :show-inheritance:

.. autoclass:: InitialStateRecorder
   :show-inheritance:

.. autoclass:: InitialStateRecorderCfg
   :show-inheritance:

.. autoclass:: JointAction
   :show-inheritance:

.. autoclass:: JointEffortAction
   :show-inheritance:

.. autoclass:: JointPositionAction
   :show-inheritance:

.. autoclass:: JointPositionToLimitsAction
   :show-inheritance:

.. autoclass:: JointVelocityAction
   :show-inheritance:

.. autoclass:: NonHolonomicAction
   :show-inheritance:

.. autoclass:: NormalVelocityCommand
   :show-inheritance:

.. autoclass:: NullCommand
   :show-inheritance:

.. autoclass:: PostStepProcessedActionsRecorder
   :show-inheritance:

.. autoclass:: PostStepProcessedActionsRecorderCfg
   :show-inheritance:

.. autoclass:: PostStepStatesRecorder
   :show-inheritance:

.. autoclass:: PostStepStatesRecorderCfg
   :show-inheritance:

.. autoclass:: PreStepActionsRecorder
   :show-inheritance:

.. autoclass:: PreStepActionsRecorderCfg
   :show-inheritance:

.. autoclass:: PreStepFlatPolicyObservationsRecorder
   :show-inheritance:

.. autoclass:: PreStepFlatPolicyObservationsRecorderCfg
   :show-inheritance:

.. autoclass:: RelativeJointPositionAction
   :show-inheritance:

.. autoclass:: SurfaceGripperBinaryAction
   :show-inheritance:

.. autoclass:: TerrainBasedPose2dCommand
   :show-inheritance:

.. autoclass:: UniformPose2dCommand
   :show-inheritance:

.. autoclass:: UniformPoseCommand
   :show-inheritance:

.. autoclass:: UniformVelocityCommand
   :show-inheritance: