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.../tutorials/01_assets/run_rigid_object.html | 26 +- .../tutorials/02_scene/create_scene.html | 30 +- .../03_envs/create_direct_rl_env.html | 84 ++-- .../03_envs/create_manager_base_env.html | 60 +-- .../03_envs/create_manager_rl_env.html | 74 ++-- .../03_envs/modify_direct_rl_env.html | 34 +- .../03_envs/register_rl_env_gym.html | 32 +- .../tutorials/03_envs/run_rl_training.html | 42 +- .../04_sensors/add_sensors_on_robot.html | 28 +- .../tutorials/05_controllers/run_diff_ik.html | 38 +- .../tutorials/05_controllers/run_osc.html | 46 +-- v1.4.0/source/tutorials/index.html | 4 +- 1428 files changed, 21648 insertions(+), 21648 deletions(-) diff --git a/main/_modules/index.html b/main/_modules/index.html index 7eabaa322a..782dd35f08 100644 --- a/main/_modules/index.html +++ b/main/_modules/index.html @@ -57,8 +57,8 @@ - - + + @@ -712,7 +712,7 @@

All modules for which code is available

- Last updated on Jan 03, 2025. + Last updated on Jan 07, 2025.

diff --git a/main/_modules/omni/isaac/lab/actuators/actuator_base.html b/main/_modules/omni/isaac/lab/actuators/actuator_base.html index 55713ccdf1..72b91669d8 100644 --- a/main/_modules/omni/isaac/lab/actuators/actuator_base.html +++ b/main/_modules/omni/isaac/lab/actuators/actuator_base.html @@ -57,8 +57,8 @@ - - + + @@ -520,21 +520,21 @@

Source code for omni.isaac.lab.actuators.actuator_base

# # SPDX-License-Identifier: BSD-3-Clause -from __future__ import annotations +from __future__ import annotations -import torch -from abc import ABC, abstractmethod -from collections.abc import Sequence -from typing import TYPE_CHECKING +import torch +from abc import ABC, abstractmethod +from collections.abc import Sequence +from typing import TYPE_CHECKING -import omni.isaac.lab.utils.string as string_utils -from omni.isaac.lab.utils.types import ArticulationActions +import omni.isaac.lab.utils.string as string_utils +from omni.isaac.lab.utils.types import ArticulationActions if TYPE_CHECKING: - from .actuator_cfg import ActuatorBaseCfg + from .actuator_cfg import ActuatorBaseCfg -
[docs]class ActuatorBase(ABC): +
[docs]class ActuatorBase(ABC): """Base class for actuator models over a collection of actuated joints in an articulation. Actuator models augment the simulated articulation joints with an external drive dynamics model. @@ -570,7 +570,7 @@

Source code for omni.isaac.lab.actuators.actuator_base

friction: torch.Tensor """The joint friction of the actuator joints. Shape is (num_envs, num_joints).""" -
[docs] def __init__( +
[docs] def __init__( self, cfg: ActuatorBaseCfg, joint_names: list[str], @@ -632,7 +632,7 @@

Source code for omni.isaac.lab.actuators.actuator_base

self.computed_effort = torch.zeros(self._num_envs, self.num_joints, device=self._device) self.applied_effort = torch.zeros_like(self.computed_effort)
- def __str__(self) -> str: + def __str__(self) -> str: """Returns: A string representation of the actuator group.""" # resolve joint indices for printing joint_indices = self.joint_indices @@ -651,17 +651,17 @@

Source code for omni.isaac.lab.actuators.actuator_base

""" @property - def num_joints(self) -> int: + def num_joints(self) -> int: """Number of actuators in the group.""" return len(self._joint_names) @property - def joint_names(self) -> list[str]: + def joint_names(self) -> list[str]: """Articulation's joint names that are part of the group.""" return self._joint_names @property - def joint_indices(self) -> slice | Sequence[int]: + def joint_indices(self) -> slice | Sequence[int]: """Articulation's joint indices that are part of the group. Note: @@ -675,7 +675,7 @@

Source code for omni.isaac.lab.actuators.actuator_base

"""
[docs] @abstractmethod - def reset(self, env_ids: Sequence[int]): + def reset(self, env_ids: Sequence[int]): """Reset the internals within the group. Args: @@ -684,7 +684,7 @@

Source code for omni.isaac.lab.actuators.actuator_base

raise NotImplementedError
[docs] @abstractmethod - def compute( + def compute( self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor ) -> ArticulationActions: """Process the actuator group actions and compute the articulation actions. @@ -706,7 +706,7 @@

Source code for omni.isaac.lab.actuators.actuator_base

Helper functions. """ - def _parse_joint_parameter( + def _parse_joint_parameter( self, cfg_value: float | dict[str, float] | None, default_value: float | torch.Tensor | None ) -> torch.Tensor: """Parse the joint parameter from the configuration. @@ -766,7 +766,7 @@

Source code for omni.isaac.lab.actuators.actuator_base

return param - def _clip_effort(self, effort: torch.Tensor) -> torch.Tensor: + def _clip_effort(self, effort: torch.Tensor) -> torch.Tensor: """Clip the desired torques based on the motor limits. Args: @@ -823,7 +823,7 @@

Source code for omni.isaac.lab.actuators.actuator_base

- Last updated on Jan 03, 2025. + Last updated on Jan 07, 2025.

diff --git a/main/_modules/omni/isaac/lab/actuators/actuator_cfg.html b/main/_modules/omni/isaac/lab/actuators/actuator_cfg.html index b7ee25c734..551d45703d 100644 --- a/main/_modules/omni/isaac/lab/actuators/actuator_cfg.html +++ b/main/_modules/omni/isaac/lab/actuators/actuator_cfg.html @@ -57,8 +57,8 @@ - - + + @@ -520,19 +520,19 @@

Source code for omni.isaac.lab.actuators.actuator_cfg

# # SPDX-License-Identifier: BSD-3-Clause -import torch -from collections.abc import Iterable -from dataclasses import MISSING -from typing import Literal +import torch +from collections.abc import Iterable +from dataclasses import MISSING +from typing import Literal -from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils import configclass -from . import actuator_net, actuator_pd -from .actuator_base import ActuatorBase +from . import actuator_net, actuator_pd +from .actuator_base import ActuatorBase
[docs]@configclass -class ActuatorBaseCfg: +class ActuatorBaseCfg: """Configuration for default actuators in an articulation.""" class_type: type[ActuatorBase] = MISSING @@ -591,7 +591,7 @@

Source code for omni.isaac.lab.actuators.actuator_cfg

[docs]@configclass -class ImplicitActuatorCfg(ActuatorBaseCfg): +class ImplicitActuatorCfg(ActuatorBaseCfg): """Configuration for an implicit actuator. Note: @@ -607,14 +607,14 @@

Source code for omni.isaac.lab.actuators.actuator_cfg

[docs]@configclass -class IdealPDActuatorCfg(ActuatorBaseCfg): +class IdealPDActuatorCfg(ActuatorBaseCfg): """Configuration for an ideal PD actuator.""" class_type: type = actuator_pd.IdealPDActuator
[docs]@configclass -class DCMotorCfg(IdealPDActuatorCfg): +class DCMotorCfg(IdealPDActuatorCfg): """Configuration for direct control (DC) motor actuator model.""" class_type: type = actuator_pd.DCMotor @@ -624,7 +624,7 @@

Source code for omni.isaac.lab.actuators.actuator_cfg

[docs]@configclass -class ActuatorNetLSTMCfg(DCMotorCfg): +class ActuatorNetLSTMCfg(DCMotorCfg): """Configuration for LSTM-based actuator model.""" class_type: type = actuator_net.ActuatorNetLSTM @@ -637,7 +637,7 @@

Source code for omni.isaac.lab.actuators.actuator_cfg

[docs]@configclass -class ActuatorNetMLPCfg(DCMotorCfg): +class ActuatorNetMLPCfg(DCMotorCfg): """Configuration for MLP-based actuator model.""" class_type: type = actuator_net.ActuatorNetMLP @@ -674,7 +674,7 @@

Source code for omni.isaac.lab.actuators.actuator_cfg

[docs]@configclass -class DelayedPDActuatorCfg(IdealPDActuatorCfg): +class DelayedPDActuatorCfg(IdealPDActuatorCfg): """Configuration for a delayed PD actuator.""" class_type: type = actuator_pd.DelayedPDActuator @@ -687,7 +687,7 @@

Source code for omni.isaac.lab.actuators.actuator_cfg

[docs]@configclass -class RemotizedPDActuatorCfg(DelayedPDActuatorCfg): +class RemotizedPDActuatorCfg(DelayedPDActuatorCfg): """Configuration for a remotized PD actuator. Note: @@ -751,7 +751,7 @@

Source code for omni.isaac.lab.actuators.actuator_cfg

- Last updated on Jan 03, 2025. + Last updated on Jan 07, 2025.

diff --git a/main/_modules/omni/isaac/lab/actuators/actuator_net.html b/main/_modules/omni/isaac/lab/actuators/actuator_net.html index 3fa0b51cf6..7c34768bc1 100644 --- a/main/_modules/omni/isaac/lab/actuators/actuator_net.html +++ b/main/_modules/omni/isaac/lab/actuators/actuator_net.html @@ -57,8 +57,8 @@ - - + + @@ -529,22 +529,22 @@

Source code for omni.isaac.lab.actuators.actuator_net

""" -from __future__ import annotations +from __future__ import annotations -import torch -from collections.abc import Sequence -from typing import TYPE_CHECKING +import torch +from collections.abc import Sequence +from typing import TYPE_CHECKING -from omni.isaac.lab.utils.assets import read_file -from omni.isaac.lab.utils.types import ArticulationActions +from omni.isaac.lab.utils.assets import read_file +from omni.isaac.lab.utils.types import ArticulationActions -from .actuator_pd import DCMotor +from .actuator_pd import DCMotor if TYPE_CHECKING: - from .actuator_cfg import ActuatorNetLSTMCfg, ActuatorNetMLPCfg + from .actuator_cfg import ActuatorNetLSTMCfg, ActuatorNetMLPCfg -
[docs]class ActuatorNetLSTM(DCMotor): +
[docs]class ActuatorNetLSTM(DCMotor): """Actuator model based on recurrent neural network (LSTM). Unlike the MLP implementation :cite:t:`hwangbo2019learning`, this class implements @@ -559,7 +559,7 @@

Source code for omni.isaac.lab.actuators.actuator_net

cfg: ActuatorNetLSTMCfg """The configuration of the actuator model.""" -
[docs] def __init__(self, cfg: ActuatorNetLSTMCfg, *args, **kwargs): +
[docs] def __init__(self, cfg: ActuatorNetLSTMCfg, *args, **kwargs): super().__init__(cfg, *args, **kwargs) # load the model from JIT file @@ -584,13 +584,13 @@

Source code for omni.isaac.lab.actuators.actuator_net

Operations. """ -
[docs] def reset(self, env_ids: Sequence[int]): +
[docs] def reset(self, env_ids: Sequence[int]): # reset the hidden and cell states for the specified environments with torch.no_grad(): self.sea_hidden_state_per_env[:, env_ids] = 0.0 self.sea_cell_state_per_env[:, env_ids] = 0.0
-
[docs] def compute( +
[docs] def compute( self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor ) -> ArticulationActions: # compute network inputs @@ -616,7 +616,7 @@

Source code for omni.isaac.lab.actuators.actuator_net

return control_action
-
[docs]class ActuatorNetMLP(DCMotor): +
[docs]class ActuatorNetMLP(DCMotor): """Actuator model based on multi-layer perceptron and joint history. Many times the analytical model is not sufficient to capture the actuator dynamics, the @@ -638,7 +638,7 @@

Source code for omni.isaac.lab.actuators.actuator_net

cfg: ActuatorNetMLPCfg """The configuration of the actuator model.""" -
[docs] def __init__(self, cfg: ActuatorNetMLPCfg, *args, **kwargs): +
[docs] def __init__(self, cfg: ActuatorNetMLPCfg, *args, **kwargs): super().__init__(cfg, *args, **kwargs) # load the model from JIT file @@ -656,12 +656,12 @@

Source code for omni.isaac.lab.actuators.actuator_net

Operations. """ -
[docs] def reset(self, env_ids: Sequence[int]): +
[docs] def reset(self, env_ids: Sequence[int]): # reset the history for the specified environments self._joint_pos_error_history[env_ids] = 0.0 self._joint_vel_history[env_ids] = 0.0
-
[docs] def compute( +
[docs] def compute( self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor ) -> ArticulationActions: # move history queue by 1 and update top of history @@ -750,7 +750,7 @@

Source code for omni.isaac.lab.actuators.actuator_net

- Last updated on Jan 03, 2025. + Last updated on Jan 07, 2025.

diff --git a/main/_modules/omni/isaac/lab/actuators/actuator_pd.html b/main/_modules/omni/isaac/lab/actuators/actuator_pd.html index 9ea2e5e21f..1b97dd4585 100644 --- a/main/_modules/omni/isaac/lab/actuators/actuator_pd.html +++ b/main/_modules/omni/isaac/lab/actuators/actuator_pd.html @@ -57,8 +57,8 @@ - - + + @@ -520,19 +520,19 @@

Source code for omni.isaac.lab.actuators.actuator_pd

# # SPDX-License-Identifier: BSD-3-Clause -from __future__ import annotations +from __future__ import annotations -import torch -from collections.abc import Sequence -from typing import TYPE_CHECKING +import torch +from collections.abc import Sequence +from typing import TYPE_CHECKING -from omni.isaac.lab.utils import DelayBuffer, LinearInterpolation -from omni.isaac.lab.utils.types import ArticulationActions +from omni.isaac.lab.utils import DelayBuffer, LinearInterpolation +from omni.isaac.lab.utils.types import ArticulationActions -from .actuator_base import ActuatorBase +from .actuator_base import ActuatorBase if TYPE_CHECKING: - from .actuator_cfg import ( + from .actuator_cfg import ( DCMotorCfg, DelayedPDActuatorCfg, IdealPDActuatorCfg, @@ -546,7 +546,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

""" -
[docs]class ImplicitActuator(ActuatorBase): +
[docs]class ImplicitActuator(ActuatorBase): """Implicit actuator model that is handled by the simulation. This performs a similar function as the :class:`IdealPDActuator` class. However, the PD control is handled @@ -572,11 +572,11 @@

Source code for omni.isaac.lab.actuators.actuator_pd

Operations. """ -
[docs] def reset(self, *args, **kwargs): +
[docs] def reset(self, *args, **kwargs): # This is a no-op. There is no state to reset for implicit actuators. pass
-
[docs] def compute( +
[docs] def compute( self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor ) -> ArticulationActions: """Process the actuator group actions and compute the articulation actions. @@ -609,7 +609,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

""" -
[docs]class IdealPDActuator(ActuatorBase): +
[docs]class IdealPDActuator(ActuatorBase): r"""Ideal torque-controlled actuator model with a simple saturation model. It employs the following model for computing torques for the actuated joint :math:`j`: @@ -642,10 +642,10 @@

Source code for omni.isaac.lab.actuators.actuator_pd

Operations. """ -
[docs] def reset(self, env_ids: Sequence[int]): +
[docs] def reset(self, env_ids: Sequence[int]): pass
-
[docs] def compute( +
[docs] def compute( self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor ) -> ArticulationActions: # compute errors @@ -662,7 +662,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

return control_action
-
[docs]class DCMotor(IdealPDActuator): +
[docs]class DCMotor(IdealPDActuator): r"""Direct control (DC) motor actuator model with velocity-based saturation model. It uses the same model as the :class:`IdealActuator` for computing the torques from input commands. @@ -706,7 +706,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

cfg: DCMotorCfg """The configuration for the actuator model.""" -
[docs] def __init__(self, cfg: DCMotorCfg, *args, **kwargs): +
[docs] def __init__(self, cfg: DCMotorCfg, *args, **kwargs): super().__init__(cfg, *args, **kwargs) # parse configuration if self.cfg.saturation_effort is not None: @@ -725,7 +725,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

Operations. """ -
[docs] def compute( +
[docs] def compute( self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor ) -> ArticulationActions: # save current joint vel @@ -737,7 +737,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

Helper functions. """ - def _clip_effort(self, effort: torch.Tensor) -> torch.Tensor: + def _clip_effort(self, effort: torch.Tensor) -> torch.Tensor: # compute torque limits # -- max limit max_effort = self._saturation_effort * (1.0 - self._joint_vel / self.velocity_limit) @@ -750,7 +750,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

return torch.clip(effort, min=min_effort, max=max_effort)
-
[docs]class DelayedPDActuator(IdealPDActuator): +
[docs]class DelayedPDActuator(IdealPDActuator): """Ideal PD actuator with delayed command application. This class extends the :class:`IdealPDActuator` class by adding a delay to the actuator commands. The delay @@ -766,7 +766,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

cfg: DelayedPDActuatorCfg """The configuration for the actuator model.""" -
[docs] def __init__(self, cfg: DelayedPDActuatorCfg, *args, **kwargs): +
[docs] def __init__(self, cfg: DelayedPDActuatorCfg, *args, **kwargs): super().__init__(cfg, *args, **kwargs) # instantiate the delay buffers self.positions_delay_buffer = DelayBuffer(cfg.max_delay, self._num_envs, device=self._device) @@ -775,7 +775,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

# all of the envs self._ALL_INDICES = torch.arange(self._num_envs, dtype=torch.long, device=self._device)
-
[docs] def reset(self, env_ids: Sequence[int]): +
[docs] def reset(self, env_ids: Sequence[int]): super().reset(env_ids) # number of environments (since env_ids can be a slice) if env_ids is None or env_ids == slice(None): @@ -799,7 +799,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

self.velocities_delay_buffer.reset(env_ids) self.efforts_delay_buffer.reset(env_ids)
-
[docs] def compute( +
[docs] def compute( self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor ) -> ArticulationActions: # apply delay based on the delay the model for all the setpoints @@ -810,7 +810,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

return super().compute(control_action, joint_pos, joint_vel)
-
[docs]class RemotizedPDActuator(DelayedPDActuator): +
[docs]class RemotizedPDActuator(DelayedPDActuator): """Ideal PD actuator with angle-dependent torque limits. This class extends the :class:`DelayedPDActuator` class by adding angle-dependent torque limits to the actuator. @@ -820,7 +820,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

The torque limits are interpolated based on the current joint positions and applied to the actuator commands. """ -
[docs] def __init__( +
[docs] def __init__( self, cfg: RemotizedPDActuatorCfg, joint_names: list[str], @@ -850,22 +850,22 @@

Source code for omni.isaac.lab.actuators.actuator_pd

""" @property - def angle_samples(self) -> torch.Tensor: + def angle_samples(self) -> torch.Tensor: return self._joint_parameter_lookup[:, 0] @property - def transmission_ratio_samples(self) -> torch.Tensor: + def transmission_ratio_samples(self) -> torch.Tensor: return self._joint_parameter_lookup[:, 1] @property - def max_torque_samples(self) -> torch.Tensor: + def max_torque_samples(self) -> torch.Tensor: return self._joint_parameter_lookup[:, 2] """ Operations. """ -
[docs] def compute( +
[docs] def compute( self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor ) -> ArticulationActions: # call the base method @@ -925,7 +925,7 @@

Source code for omni.isaac.lab.actuators.actuator_pd

- Last updated on Jan 03, 2025. + Last updated on Jan 07, 2025.

diff --git a/main/_modules/omni/isaac/lab/app/app_launcher.html b/main/_modules/omni/isaac/lab/app/app_launcher.html index 091ddfc051..3d73028d24 100644 --- a/main/_modules/omni/isaac/lab/app/app_launcher.html +++ b/main/_modules/omni/isaac/lab/app/app_launcher.html @@ -57,8 +57,8 @@ - - + + @@ -529,21 +529,21 @@

Source code for omni.isaac.lab.app.app_launcher

< :attr:`AppLauncher.app` property. """ -import argparse -import contextlib -import os -import re -import signal -import sys -from typing import Any, Literal +import argparse +import contextlib +import os +import re +import signal +import sys +from typing import Any, Literal with contextlib.suppress(ModuleNotFoundError): - import isaacsim # noqa: F401 + import isaacsim # noqa: F401 -from omni.isaac.kit import SimulationApp +from omni.isaac.kit import SimulationApp -
[docs]class AppLauncher: +
[docs]class AppLauncher: """A utility class to launch Isaac Sim application based on command-line arguments and environment variables. The class resolves the simulation app settings that appear through environments variables, @@ -563,7 +563,7 @@

Source code for omni.isaac.lab.app.app_launcher

< """ -
[docs] def __init__(self, launcher_args: argparse.Namespace | dict | None = None, **kwargs): +
[docs] def __init__(self, launcher_args: argparse.Namespace | dict | None = None, **kwargs): """Create a `SimulationApp`_ instance based on the input settings. Args: @@ -647,7 +647,7 @@

Source code for omni.isaac.lab.app.app_launcher

< """ @property - def app(self) -> SimulationApp: + def app(self) -> SimulationApp: """The launched SimulationApp.""" if self._app is not None: return self._app @@ -659,7 +659,7 @@

Source code for omni.isaac.lab.app.app_launcher

< """
[docs] @staticmethod - def add_app_launcher_args(parser: argparse.ArgumentParser) -> None: + def add_app_launcher_args(parser: argparse.ArgumentParser) -> None: """Utility function to configure AppLauncher arguments with an existing argument parser object. This function takes an ``argparse.ArgumentParser`` object and does some sanity checking on the existing @@ -863,7 +863,7 @@

Source code for omni.isaac.lab.app.app_launcher

< """ @staticmethod - def _check_argparser_config_params(config: dict) -> None: + def _check_argparser_config_params(config: dict) -> None: """Checks that input argparser object has parameters with valid settings with no name conflicts. First, we inspect the dictionary to ensure that the passed ArgParser object is not attempting to add arguments @@ -906,7 +906,7 @@

Source code for omni.isaac.lab.app.app_launcher

< # Print out values which will be used print(f"[INFO][AppLauncher]: The argument '{key}' will be used to configure the SimulationApp.") - def _config_resolution(self, launcher_args: dict): + def _config_resolution(self, launcher_args: dict): """Resolve the input arguments and environment variables. Args: @@ -1102,7 +1102,7 @@

Source code for omni.isaac.lab.app.app_launcher

< key: launcher_args[key] for key in set(AppLauncher._SIM_APP_CFG_TYPES.keys()) & set(launcher_args.keys()) } - def _create_app(self): + def _create_app(self): """Launch and create the SimulationApp based on the parsed simulation config.""" # Initialize SimulationApp # hack sys module to make sure that the SimulationApp is initialized correctly @@ -1135,18 +1135,18 @@

Source code for omni.isaac.lab.app.app_launcher

< if len(self._kit_args) > 0: sys.argv = [arg for arg in sys.argv if arg not in self._kit_args] - def _rendering_enabled(self) -> bool: + def _rendering_enabled(self) -> bool: """Check if rendering is required by the app.""" # Indicates whether rendering is required by the app. # Extensions required for rendering bring startup and simulation costs, so we do not enable them if not required. return not self._headless or self._livestream >= 1 or self._enable_cameras - def _load_extensions(self): + def _load_extensions(self): """Load correct extensions based on AppLauncher's resolved config member variables.""" # These have to be loaded after SimulationApp is initialized - import carb - import omni.physx.bindings._physx as physx_impl - from omni.isaac.core.utils.extensions import enable_extension + import carb + import omni.physx.bindings._physx as physx_impl + from omni.isaac.core.utils.extensions import enable_extension # Retrieve carb settings for modification carb_settings_iface = carb.settings.get_settings() @@ -1205,7 +1205,7 @@

Source code for omni.isaac.lab.app.app_launcher

< # disable physics backwards compatibility check carb_settings_iface.set_int(physx_impl.SETTING_BACKWARD_COMPATIBILITY, 0) - def _hide_stop_button(self): + def _hide_stop_button(self): """Hide the stop button in the toolbar. For standalone executions, having a stop button is confusing since it invalidates the whole simulation. @@ -1214,7 +1214,7 @@

Source code for omni.isaac.lab.app.app_launcher

< # when we are truly headless, then we can't import the widget toolbar # thus, we only hide the stop button when we are not headless (i.e. GUI is enabled) if self._livestream >= 1 or not self._headless: - import omni.kit.widget.toolbar + import omni.kit.widget.toolbar # grey out the stop button because we don't want to stop the simulation manually in standalone mode toolbar = omni.kit.widget.toolbar.get_instance() @@ -1224,14 +1224,14 @@

Source code for omni.isaac.lab.app.app_launcher

< play_button_group._stop_button.enabled = False # type: ignore play_button_group._stop_button = None # type: ignore - def _interrupt_signal_handle_callback(self, signal, frame): + def _interrupt_signal_handle_callback(self, signal, frame): """Handle the interrupt signal from the keyboard.""" # close the app self._app.close() # raise the error for keyboard interrupt raise KeyboardInterrupt - def _abort_signal_handle_callback(self, signal, frame): + def _abort_signal_handle_callback(self, signal, frame): """Handle the abort/segmentation/kill signals.""" # close the app self._app.close()
@@ -1282,7 +1282,7 @@

Source code for omni.isaac.lab.app.app_launcher

<

- Last updated on Jan 03, 2025. + Last updated on Jan 07, 2025.

diff --git a/main/_modules/omni/isaac/lab/assets/articulation/articulation.html b/main/_modules/omni/isaac/lab/assets/articulation/articulation.html index 7c0ca321e3..6eaa4b8bc4 100644 --- a/main/_modules/omni/isaac/lab/assets/articulation/articulation.html +++ b/main/_modules/omni/isaac/lab/assets/articulation/articulation.html @@ -57,8 +57,8 @@ - - + + @@ -523,32 +523,32 @@

Source code for omni.isaac.lab.assets.articulation.articulation

# Flag for pyright to ignore type errors in this file. # pyright: reportPrivateUsage=false -from __future__ import annotations +from __future__ import annotations -import torch -from collections.abc import Sequence -from prettytable import PrettyTable -from typing import TYPE_CHECKING +import torch +from collections.abc import Sequence +from prettytable import PrettyTable +from typing import TYPE_CHECKING -import omni.isaac.core.utils.stage as stage_utils -import omni.log -import omni.physics.tensors.impl.api as physx -from pxr import PhysxSchema, UsdPhysics +import omni.isaac.core.utils.stage as stage_utils +import omni.log +import omni.physics.tensors.impl.api as physx +from pxr import PhysxSchema, UsdPhysics -import omni.isaac.lab.sim as sim_utils -import omni.isaac.lab.utils.math as math_utils -import omni.isaac.lab.utils.string as string_utils -from omni.isaac.lab.actuators import ActuatorBase, ActuatorBaseCfg, ImplicitActuator -from omni.isaac.lab.utils.types import ArticulationActions +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.utils.math as math_utils +import omni.isaac.lab.utils.string as string_utils +from omni.isaac.lab.actuators import ActuatorBase, ActuatorBaseCfg, ImplicitActuator +from omni.isaac.lab.utils.types import ArticulationActions -from ..asset_base import AssetBase -from .articulation_data import ArticulationData +from ..asset_base import AssetBase +from .articulation_data import ArticulationData if TYPE_CHECKING: - from .articulation_cfg import ArticulationCfg + from .articulation_cfg import ArticulationCfg -
[docs]class Articulation(AssetBase): +
[docs]class Articulation(AssetBase): """An articulation asset class. An articulation is a collection of rigid bodies connected by joints. The joints can be either @@ -607,7 +607,7 @@

Source code for omni.isaac.lab.assets.articulation.articulation

attribute. They are used to compute the joint commands during the :meth:`write_data_to_sim` function. """ -
[docs] def __init__(self, cfg: ArticulationCfg): +
[docs] def __init__(self, cfg: ArticulationCfg): """Initialize the articulation. Args: @@ -624,50 +624,50 @@

Source code for omni.isaac.lab.assets.articulation.articulation

""" @property - def data(self) -> ArticulationData: + def data(self) -> ArticulationData: return self._data @property - def num_instances(self) -> int: + def num_instances(self) -> int: return self.root_physx_view.count @property - def is_fixed_base(self) -> bool: + def is_fixed_base(self) -> bool: """Whether the articulation is a fixed-base or floating-base system.""" return self.root_physx_view.shared_metatype.fixed_base @property - def num_joints(self) -> int: + def num_joints(self) -> int: """Number of joints in articulation.""" return self.root_physx_view.shared_metatype.dof_count @property - def num_fixed_tendons(self) -> int: + def num_fixed_tendons(self) -> int: """Number of fixed tendons in articulation.""" return self.root_physx_view.max_fixed_tendons @property - def num_bodies(self) -> int: + def num_bodies(self) -> int: """Number of bodies in articulation.""" return self.root_physx_view.shared_metatype.link_count @property - def joint_names(self) -> list[str]: + def joint_names(self) -> list[str]: """Ordered names of joints in articulation.""" return self.root_physx_view.shared_metatype.dof_names @property - def fixed_tendon_names(self) -> list[str]: + def fixed_tendon_names(self) -> list[str]: """Ordered names of fixed tendons in articulation.""" return self._fixed_tendon_names @property - def body_names(self) -> list[str]: + def body_names(self) -> list[str]: """Ordered names of bodies in articulation.""" return self.root_physx_view.shared_metatype.link_names @property - def root_physx_view(self) -> physx.ArticulationView: + def root_physx_view(self) -> physx.ArticulationView: """Articulation view for the asset (PhysX). Note: @@ -679,7 +679,7 @@

Source code for omni.isaac.lab.assets.articulation.articulation

Operations. """ -
[docs] def reset(self, env_ids: Sequence[int] | None = None): +
[docs] def reset(self, env_ids: Sequence[int] | None = None): # use ellipses object to skip initial indices. if env_ids is None: env_ids = slice(None) @@ -690,7 +690,7 @@

Source code for omni.isaac.lab.assets.articulation.articulation

self._external_force_b[env_ids] = 0.0 self._external_torque_b[env_ids] = 0.0
-
[docs] def write_data_to_sim(self): +
[docs] def write_data_to_sim(self): """Write external wrenches and joint commands to the simulation. If any explicit actuators are present, then the actuator models are used to compute the @@ -719,14 +719,14 @@

Source code for omni.isaac.lab.assets.articulation.articulation

self.root_physx_view.set_dof_position_targets(self._joint_pos_target_sim, self._ALL_INDICES) self.root_physx_view.set_dof_velocity_targets(self._joint_vel_target_sim, self._ALL_INDICES)
-
[docs] def update(self, dt: float): +
[docs] def update(self, dt: float): self._data.update(dt)
""" Operations - Finders. """ -
[docs] def find_bodies(self, name_keys: str | Sequence[str], preserve_order: bool = False) -> tuple[list[int], list[str]]: +
[docs] def find_bodies(self, name_keys: str | Sequence[str], preserve_order: bool = False) -> tuple[list[int], list[str]]: """Find bodies in the articulation based on the name keys. Please check the :meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function for more @@ -741,7 +741,7 @@

Source code for omni.isaac.lab.assets.articulation.articulation

""" return string_utils.resolve_matching_names(name_keys, self.body_names, preserve_order)
-
[docs] def find_joints( +
[docs] def find_joints( self, name_keys: str | Sequence[str], joint_subset: list[str] | None = None, preserve_order: bool = False ) -> tuple[list[int], list[str]]: """Find joints in the articulation based on the name keys. @@ -763,7 +763,7 @@

Source code for omni.isaac.lab.assets.articulation.articulation

# find joints return string_utils.resolve_matching_names(name_keys, joint_subset, preserve_order)
-
[docs] def find_fixed_tendons( +
[docs] def find_fixed_tendons( self, name_keys: str | Sequence[str], tendon_subsets: list[str] | None = None, preserve_order: bool = False ) -> tuple[list[int], list[str]]: """Find fixed tendons in the articulation based on the name keys. @@ -791,7 +791,7 @@

Source code for omni.isaac.lab.assets.articulation.articulation

Operations - Writers. """ -
[docs] def write_root_state_to_sim(self, root_state: torch.Tensor, env_ids: Sequence[int] | None = None): +
[docs] def write_root_state_to_sim(self, root_state: torch.Tensor, env_ids: Sequence[int] | None = None): """Set the root state over selected environment indices into the simulation. The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear @@ -814,7 +814,7 @@

Source code for omni.isaac.lab.assets.articulation.articulation

self.write_root_pose_to_sim(root_state[:, :7], env_ids=env_ids) self.write_root_velocity_to_sim(root_state[:, 7:], env_ids=env_ids)
-
[docs] def write_root_com_state_to_sim(self, root_state: torch.Tensor, env_ids: Sequence[int] | None = None): +
[docs] def write_root_com_state_to_sim(self, root_state: torch.Tensor, env_ids: Sequence[int] | None = None): """Set the root center of mass state over selected environment indices into the simulation. The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear @@ -828,7 +828,7 @@

Source code for omni.isaac.lab.assets.articulation.articulation

self.write_root_com_pose_to_sim(root_state[:, :7], env_ids=env_ids) self.write_root_com_velocity_to_sim(root_state[:, 7:], env_ids=env_ids)
-