gym_genesis/tasks/cube_pick.py [104:127]:
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        self.scene.step()

        if self.enable_pixels:
            self.cam.start_recording()

        return self.get_obs()
        
    def seed(self, seed):
        np.random.seed(seed)
        random.seed(seed)
        self._random = np.random.RandomState(seed)
        torch.manual_seed(seed)
        torch.cuda.manual_seed_all(seed)
        self.action_space.seed(seed)

    def step(self, action):
        self.franka.control_dofs_position(action[:, :7], self.motors_dof)
        self.franka.control_dofs_position(action[:, 7:], self.fingers_dof)
        self.scene.step()
        reward = self.compute_reward()
        obs = self.get_obs()
        return None, reward, None, obs
    
    def compute_reward(self):
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gym_genesis/tasks/cube_stack.py [159:184]:
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        self.scene.step()

        if self.enable_pixels:
            self.cam.start_recording()

        return self.get_obs()

        
    def seed(self, seed):
        np.random.seed(seed)
        random.seed(seed)
        self._random = np.random.RandomState(seed)
        torch.manual_seed(seed)
        torch.cuda.manual_seed_all(seed)
        self.action_space.seed(seed)

    def step(self, action):
        self.franka.control_dofs_position(action[:, :7], self.motors_dof)
        self.franka.control_dofs_position(action[:, 7:], self.fingers_dof)
        self.scene.step()
        reward = self.compute_reward()
        obs = self.get_obs()
        return None, reward, None, obs

    
    def compute_reward(self):
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