deploy: 36568a0

main/_modules/index.html

@@ -57,8 +57,8 @@
     <link rel="search" title="Search" href="../search.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-  <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Jan 03, 2025"/>
+  <meta name="docsearch:version" content="1.4.0" />
+    <meta name="docbuild:last-update" content="Jan 07, 2025"/>
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@@ -712,7 +712,7 @@ <h1>All modules for which code is available</h1>
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Jan 03, 2025.
+  Last updated on Jan 07, 2025.
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 </p>
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main/_modules/omni/isaac/lab/actuators/actuator_base.html

@@ -57,8 +57,8 @@
     <link rel="search" title="Search" href="../../../../../search.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-  <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Jan 03, 2025"/>
+  <meta name="docsearch:version" content="1.4.0" />
+    <meta name="docbuild:last-update" content="Jan 07, 2025"/>
   </head>
 
 
@@ -520,21 +520,21 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
 <span class="c1">#</span>
 <span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
 
-<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">__future__</span><span class="w"> </span><span class="kn">import</span> <span class="n">annotations</span>
 
-<span class="kn">import</span> <span class="nn">torch</span>
-<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">ABC</span><span class="p">,</span> <span class="n">abstractmethod</span>
-<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
-<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+<span class="kn">import</span><span class="w"> </span><span class="nn">torch</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">abc</span><span class="w"> </span><span class="kn">import</span> <span class="n">ABC</span><span class="p">,</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">collections.abc</span><span class="w"> </span><span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">typing</span><span class="w"> </span><span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
 
-<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.string</span> <span class="k">as</span> <span class="nn">string_utils</span>
-<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.types</span> <span class="kn">import</span> <span class="n">ArticulationActions</span>
+<span class="kn">import</span><span class="w"> </span><span class="nn">omni.isaac.lab.utils.string</span><span class="w"> </span><span class="k">as</span><span class="w"> </span><span class="nn">string_utils</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">omni.isaac.lab.utils.types</span><span class="w"> </span><span class="kn">import</span> <span class="n">ArticulationActions</span>
 
 <span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
-    <span class="kn">from</span> <span class="nn">.actuator_cfg</span> <span class="kn">import</span> <span class="n">ActuatorBaseCfg</span>
+    <span class="kn">from</span><span class="w"> </span><span class="nn">.actuator_cfg</span><span class="w"> </span><span class="kn">import</span> <span class="n">ActuatorBaseCfg</span>
 
 
-<div class="viewcode-block" id="ActuatorBase"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase">[docs]</a><span class="k">class</span> <span class="nc">ActuatorBase</span><span class="p">(</span><span class="n">ABC</span><span class="p">):</span>
+<div class="viewcode-block" id="ActuatorBase"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase">[docs]</a><span class="k">class</span><span class="w"> </span><span class="nc">ActuatorBase</span><span class="p">(</span><span class="n">ABC</span><span class="p">):</span>
 <span class="w">    </span><span class="sd">&quot;&quot;&quot;Base class for actuator models over a collection of actuated joints in an articulation.</span>
 
 <span class="sd">    Actuator models augment the simulated articulation joints with an external drive dynamics model.</span>
@@ -570,7 +570,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
     <span class="n">friction</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
 <span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint friction of the actuator joints. Shape is (num_envs, num_joints).&quot;&quot;&quot;</span>
 
-<div class="viewcode-block" id="ActuatorBase.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span>
+<div class="viewcode-block" id="ActuatorBase.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.__init__">[docs]</a>    <span class="k">def</span><span class="w"> </span><span class="fm">__init__</span><span class="p">(</span>
         <span class="bp">self</span><span class="p">,</span>
         <span class="n">cfg</span><span class="p">:</span> <span class="n">ActuatorBaseCfg</span><span class="p">,</span>
         <span class="n">joint_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span>
@@ -632,7 +632,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
         <span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
         <span class="bp">self</span><span class="o">.</span><span class="n">applied_effort</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span><span class="p">)</span></div>
 
-    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+    <span class="k">def</span><span class="w"> </span><span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string representation of the actuator group.&quot;&quot;&quot;</span>
         <span class="c1"># resolve joint indices for printing</span>
         <span class="n">joint_indices</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_indices</span>
@@ -651,17 +651,17 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
 <span class="sd">    &quot;&quot;&quot;</span>
 
     <span class="nd">@property</span>
-    <span class="k">def</span> <span class="nf">num_joints</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+    <span class="k">def</span><span class="w"> </span><span class="nf">num_joints</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of actuators in the group.&quot;&quot;&quot;</span>
         <span class="k">return</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_joint_names</span><span class="p">)</span>
 
     <span class="nd">@property</span>
-    <span class="k">def</span> <span class="nf">joint_names</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+    <span class="k">def</span><span class="w"> </span><span class="nf">joint_names</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Articulation&#39;s joint names that are part of the group.&quot;&quot;&quot;</span>
         <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_names</span>
 
     <span class="nd">@property</span>
-    <span class="k">def</span> <span class="nf">joint_indices</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]:</span>
+    <span class="k">def</span><span class="w"> </span><span class="nf">joint_indices</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Articulation&#39;s joint indices that are part of the group.</span>
 
 <span class="sd">        Note:</span>
@@ -675,7 +675,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
 <span class="sd">    &quot;&quot;&quot;</span>
 
 <div class="viewcode-block" id="ActuatorBase.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.reset">[docs]</a>    <span class="nd">@abstractmethod</span>
-    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+    <span class="k">def</span><span class="w"> </span><span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the internals within the group.</span>
 
 <span class="sd">        Args:</span>
@@ -684,7 +684,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
         <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
 
 <div class="viewcode-block" id="ActuatorBase.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.compute">[docs]</a>    <span class="nd">@abstractmethod</span>
-    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+    <span class="k">def</span><span class="w"> </span><span class="nf">compute</span><span class="p">(</span>
         <span class="bp">self</span><span class="p">,</span> <span class="n">control_action</span><span class="p">:</span> <span class="n">ArticulationActions</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
     <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ArticulationActions</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Process the actuator group actions and compute the articulation actions.</span>
@@ -706,7 +706,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
 <span class="sd">    Helper functions.</span>
 <span class="sd">    &quot;&quot;&quot;</span>
 
-    <span class="k">def</span> <span class="nf">_parse_joint_parameter</span><span class="p">(</span>
+    <span class="k">def</span><span class="w"> </span><span class="nf">_parse_joint_parameter</span><span class="p">(</span>
         <span class="bp">self</span><span class="p">,</span> <span class="n">cfg_value</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span> <span class="n">default_value</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span>
     <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Parse the joint parameter from the configuration.</span>
@@ -766,7 +766,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
 
         <span class="k">return</span> <span class="n">param</span>
 
-    <span class="k">def</span> <span class="nf">_clip_effort</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">effort</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+    <span class="k">def</span><span class="w"> </span><span class="nf">_clip_effort</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">effort</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;Clip the desired torques based on the motor limits.</span>
 
 <span class="sd">        Args:</span>
@@ -823,7 +823,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Jan 03, 2025.
+  Last updated on Jan 07, 2025.
   <br/>
 </p>
   </div>