deploy: b3b4548

main/_modules/index.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -630,6 +630,7 @@ <h1>All modules for which code is available</h1>
 <li><a href="omni/isaac/lab/utils/noise/noise_model.html">omni.isaac.lab.utils.noise.noise_model</a></li>
 <li><a href="omni/isaac/lab/utils/string.html">omni.isaac.lab.utils.string</a></li>
 <li><a href="omni/isaac/lab/utils/timer.html">omni.isaac.lab.utils.timer</a></li>
+<li><a href="omni/isaac/lab/utils/types.html">omni.isaac.lab.utils.types</a></li>
 <li><a href="omni/isaac/lab/utils/warp/ops.html">omni.isaac.lab.utils.warp.ops</a></li>
 <li><a href="omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html">omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector</a></li>
 <li><a href="omni/isaac/lab_tasks/utils/importer.html">omni.isaac.lab_tasks.utils.importer</a></li>
@@ -688,7 +689,7 @@ <h1>All modules for which code is available</h1>
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/actuators/actuator_base.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -509,9 +509,8 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
 <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">from</span> <span class="nn">omni.isaac.core.utils.types</span> <span class="kn">import</span> <span class="n">ArticulationActions</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="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>
@@ -798,7 +797,7 @@ <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 Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/actuators/actuator_cfg.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -733,7 +733,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_cfg</h1><div class="highli
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/actuators/actuator_net.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -517,9 +517,8 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_net</h1><div class="highli
 <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">from</span> <span class="nn">omni.isaac.core.utils.types</span> <span class="kn">import</span> <span class="n">ArticulationActions</span>
-
 <span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">read_file</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">from</span> <span class="nn">.actuator_pd</span> <span class="kn">import</span> <span class="n">DCMotor</span>
 
@@ -733,7 +732,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_net</h1><div class="highli
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/actuators/actuator_pd.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -508,9 +508,8 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_pd</h1><div class="highlig
 <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">from</span> <span class="nn">omni.isaac.core.utils.types</span> <span class="kn">import</span> <span class="n">ArticulationActions</span>
-
 <span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">DelayBuffer</span><span class="p">,</span> <span class="n">LinearInterpolation</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">from</span> <span class="nn">.actuator_base</span> <span class="kn">import</span> <span class="n">ActuatorBase</span>
 
@@ -562,7 +561,22 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_pd</h1><div class="highlig
 <div class="viewcode-block" id="ImplicitActuator.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.compute">[docs]</a>    <span class="k">def</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;Compute the aproximmate torques for the actuated joint (physX does not compute this explicitly).&quot;&quot;&quot;</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Process the actuator group actions and compute the articulation actions.</span>
+
+<span class="sd">        In case of implicit actuator, the control action is directly returned as the computed action.</span>
+<span class="sd">        This function is a no-op and does not perform any computation on the input control action.</span>
+<span class="sd">        However, it computes the approximate torques for the actuated joint since PhysX does not compute</span>
+<span class="sd">        this quantity explicitly.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            control_action: The joint action instance comprising of the desired joint positions, joint velocities</span>
+<span class="sd">                and (feed-forward) joint efforts.</span>
+<span class="sd">            joint_pos: The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</span>
+<span class="sd">            joint_vel: The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The computed desired joint positions, joint velocities and joint efforts.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
         <span class="c1"># store approximate torques for reward computation</span>
         <span class="n">error_pos</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span> <span class="o">-</span> <span class="n">joint_pos</span>
         <span class="n">error_vel</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_velocities</span> <span class="o">-</span> <span class="n">joint_vel</span>
@@ -893,7 +907,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_pd</h1><div class="highlig
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/app/app_launcher.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -1264,7 +1264,7 @@ <h1>Source code for omni.isaac.lab.app.app_launcher</h1><div class="highlight"><
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/assets/articulation/articulation.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -515,13 +515,13 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation</h1><div cla
 <span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
 <span class="kn">import</span> <span class="nn">omni.log</span>
 <span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
-<span class="kn">from</span> <span class="nn">omni.isaac.core.utils.types</span> <span class="kn">import</span> <span class="n">ArticulationActions</span>
 <span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">PhysxSchema</span><span class="p">,</span> <span class="n">UsdPhysics</span>
 
 <span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
 <span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</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.actuators</span> <span class="kn">import</span> <span class="n">ActuatorBase</span><span class="p">,</span> <span class="n">ActuatorBaseCfg</span><span class="p">,</span> <span class="n">ImplicitActuator</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">from</span> <span class="nn">..asset_base</span> <span class="kn">import</span> <span class="n">AssetBase</span>
 <span class="kn">from</span> <span class="nn">.articulation_data</span> <span class="kn">import</span> <span class="n">ArticulationData</span>
@@ -1689,10 +1689,11 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation</h1><div cla
         <span class="c1"># parse fixed tendons properties if they exist</span>
         <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
             <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+            <span class="n">joint_paths</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">dof_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
 
             <span class="c1"># iterate over all joints to find tendons attached to them</span>
             <span class="k">for</span> <span class="n">j</span> <span class="ow">in</span> <span class="nb">range</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">usd_joint_path</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">dof_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">][</span><span class="n">j</span><span class="p">]</span>
+                <span class="n">usd_joint_path</span> <span class="o">=</span> <span class="n">joint_paths</span><span class="p">[</span><span class="n">j</span><span class="p">]</span>
                 <span class="c1"># check whether joint has tendons - tendon name follows the joint name it is attached to</span>
                 <span class="n">joint</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">Joint</span><span class="o">.</span><span class="n">Get</span><span class="p">(</span><span class="n">stage</span><span class="p">,</span> <span class="n">usd_joint_path</span><span class="p">)</span>
                 <span class="k">if</span> <span class="n">joint</span><span class="o">.</span><span class="n">GetPrim</span><span class="p">()</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxTendonAxisRootAPI</span><span class="p">):</span>
@@ -1919,7 +1920,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation</h1><div cla
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -596,7 +596,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_cfg</h1><div
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/assets/articulation/articulation_data.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -1017,7 +1017,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_data</h1><di
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/assets/asset_base.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -815,7 +815,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base</h1><div class="highlight">
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/assets/asset_base_cfg.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -621,7 +621,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base_cfg</h1><div class="highlig
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -957,7 +957,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object</h
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -573,7 +573,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object_cf
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -782,7 +782,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object_da
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>

main/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html

@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Oct 31, 2024"/>
+    <meta name="docbuild:last-update" content="Nov 01, 2024"/>
   </head>
 
 
@@ -900,7 +900,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object</h1><div cla
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Oct 31, 2024.
+  Last updated on Nov 01, 2024.
   <br/>
 </p>
   </div>