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kellyguo11 committed Jan 3, 2025
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4 changes: 2 additions & 2 deletions main/_modules/index.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/actuators/actuator_base.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/actuators/actuator_cfg.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/actuators/actuator_net.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/actuators/actuator_pd.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/app/app_launcher.html
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10 changes: 5 additions & 5 deletions main/_modules/omni/isaac/lab/assets/articulation/articulation.html
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<span class="bp">self</span><span class="o">.</span><span class="n">write_joint_velocity_limit_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">velocity_limit</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">write_joint_armature_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">armature</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">write_joint_friction_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">friction</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
<span class="c1"># Store the actual default stiffness and damping values for explicit actuators (not written the sim)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_stiffness</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">stiffness</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_damping</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">damping</span>
<span class="c1"># Store the actual default stiffness and damping values for explicit and implicit actuators (not written the sim)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_stiffness</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">stiffness</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_damping</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">damping</span>

<span class="c1"># perform some sanity checks to ensure actuators are prepared correctly</span>
<span class="n">total_act_joints</span> <span class="o">=</span> <span class="nb">sum</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">num_joints</span> <span class="k">for</span> <span class="n">actuator</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">actuators</span><span class="o">.</span><span class="n">values</span><span class="p">())</span>
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/asset_base.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/asset_base_cfg.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_cfg.html
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4 changes: 2 additions & 2 deletions .../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/controllers/differential_ik.html
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