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kellyguo11 committed Jan 8, 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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7 changes: 3 additions & 4 deletions main/_modules/omni/isaac/lab/actuators/actuator_cfg.html
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Expand Down Expand Up @@ -520,7 +520,6 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_cfg</h1><div class="highli
<span class="c1">#</span>
<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</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">collections.abc</span><span class="w"> </span><span class="kn">import</span> <span class="n">Iterable</span>
<span class="kn">from</span><span class="w"> </span><span class="nn">dataclasses</span><span class="w"> </span><span class="kn">import</span> <span class="n">MISSING</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">Literal</span>
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<span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">actuator_pd</span><span class="o">.</span><span class="n">RemotizedPDActuator</span>

<span class="n">joint_parameter_lookup</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="n">MISSING</span>
<span class="n">joint_parameter_lookup</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">]]</span> <span class="o">=</span> <span class="n">MISSING</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;Joint parameter lookup table. Shape is (num_lookup_points, 3).</span>

<span class="sd"> This tensor describes the relationship between the joint angle (rad), the transmission ratio (in/out),</span>
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/actuators/actuator_net.html
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6 changes: 3 additions & 3 deletions main/_modules/omni/isaac/lab/actuators/actuator_pd.html
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<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span>
<span class="n">cfg</span><span class="p">,</span> <span class="n">joint_names</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="p">,</span> <span class="n">stiffness</span><span class="p">,</span> <span class="n">damping</span><span class="p">,</span> <span class="n">armature</span><span class="p">,</span> <span class="n">friction</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span>
<span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_joint_parameter_lookup</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">joint_parameter_lookup</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</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">_joint_parameter_lookup</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">joint_parameter_lookup</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
<span class="c1"># define remotized joint torque limit</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_torque_limit</span> <span class="o">=</span> <span class="n">LinearInterpolation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">angle_samples</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_torque_samples</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span></div>

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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/app/app_launcher.html
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4 changes: 2 additions & 2 deletions main/_modules/omni/isaac/lab/assets/articulation/articulation.html
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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_collection/rigid_object_collection_cfg.html
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