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Source code for omni.isaac.lab.utils.types

+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Sub-module for different data types."""
+
+from __future__ import annotations
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+import torch
+from collections.abc import Sequence
+from dataclasses import dataclass
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[docs]@dataclass
+class ArticulationActions:
+    """Data container to store articulation's joints actions.
+
+    This class is used to store the actions of the joints of an articulation.
+    It is used to store the joint positions, velocities, efforts, and indices.
+
+    If the actions are not provided, the values are set to None.
+    """
+
+    joint_positions: torch.Tensor | None = None
+    """The joint positions of the articulation. Defaults to None."""
+
+    joint_velocities: torch.Tensor | None = None
+    """The joint velocities of the articulation. Defaults to None."""
+
+    joint_efforts: torch.Tensor | None = None
+    """The joint efforts of the articulation. Defaults to None."""
+
+    joint_indices: torch.Tensor | Sequence[int] | slice | None = None
+    """The joint indices of the articulation. Defaults to None.
+
+    If the joint indices are a slice, this indicates that the indices are continuous and correspond
+    to all the joints of the articulation. We use a slice to make the indexing more efficient.
+    """

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+By The Isaac Lab Project Developers. +

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+ + © Copyright 2022-2024, The Isaac Lab Project Developers.. +
+ +

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+ Last updated on Nov 01, 2024. +
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